joint.hpp

/*
 *  joint.h
 *  BioMove3D
 *
 *  Created by Jim Mainprice on 12/05/10.
 *  Copyright 2010 LAAS/CNRS. All rights reserved.
 *
 */
#ifndef JOINT_HPP
#define JOINT_HPP

#include "API/ConfigSpace/configuration.hpp"
#include <eigen3/Eigen/Geometry>
#include "p3d_matrix.h"

class Robot;

#ifndef _DEVICE_H
struct jnt;
#endif

class Joint 
{       
public:
  Joint(Robot* R, jnt* jntPt , int id = -1, bool copy = false );
        
  ~Joint();
  
  std::string getName() const { return m_Name; }

  Robot* getRobot() const {return m_Robot;}
        
        jnt* getJointStruct() const { return m_Joint; }
        
    Eigen::Affine3d     getMatrixPos() const;
        
        Eigen::Vector3d         getVectorPos() const;

    void getAbsVector(p3d_vector3 r);
        
        p3d_matrix4*            getAbsPos();
        
        void            shoot(Configuration& q,bool sample_passive=false);
        
        double          getJointDof(int ithDoF) const;
        
        void            setJointDof(int ithDoF, double value);
  
  bool            setFreeFlyerFromMatrix( const Eigen::Affine3d& T );
  
        bool            isJointDofUser(int ithDoF) const;
        
        void            getDofBounds(int ithDoF, double& vmin, double& vmax) const;
        
        unsigned int            getNumberOfDof() const;
        
        unsigned int            getIndexOfFirstDof() const;
  
  int getId() const { return m_id; }
        
        void            setConfigFromDofValues(Configuration& q);
  
  Joint*          getPreviousJoint();
  
  std::vector<Joint*> getAllPrevJoints();

        unsigned computeDimension();

        double computeSpaceVolume();
        
private:
        Robot*                          m_Robot;
        jnt*          m_Joint; 
  std::string           m_Name; 
        bool          m_copy; 
  int           m_id;   
};

#endif