Joint.hpp

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#ifndef JOINT_H
#define JOINT_H

#include "Frame.hpp"
#include "DynamicTransformation.hpp"
#include <base/JointLimitRange.hpp>
#include <base/JointState.hpp>
#include <base/JointTransform.hpp>

#include <configmaps/ConfigData.h>

namespace smurf{
    
    struct SpringParam 
    {
        SpringParam()
            : damping_const_constraint_axis1(0.0),
              springDamping(0.0),
              springStiffness(0.0),
              spring_const_constraint_axis1(0.0)
        {}
        
        double damping_const_constraint_axis1;
        double springDamping;
        double springStiffness;
        double spring_const_constraint_axis1;
    };
    
    class Joint : public DynamicTransformation
    {
    public:
        
        Joint(const std::string &name, Frame* sourceFrame, Frame* targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis);
        
        Joint(const std::string &name, Frame* sourceFrame, Frame* targetFrame, const std::string& provider, const std::string& port, const std::string& driverName, base::JointLimitRange& limits, const Eigen::Affine3d& sourceToAxis, const Eigen::Affine3d& parentToJointOrigin); 
        
        Joint(const std::string &name, Frame* sourceFrame, Frame* targetFrame, const std::string& provider, const std::string& port, const std::string& driverName, base::JointLimitRange& limits, const Eigen::Affine3d& sourceToAxis, const Eigen::Affine3d& parentToJointOrigin, urdf::JointSharedPtr jointModel);
        
        Joint(Frame* sourceFrame, Frame* targetFrame, const std::string &provider, const std::string &port, const std::string &driverName, base::JointLimitRange &limits, const Eigen::Affine3d &sourceToAxis);
        
        Joint(Frame* sourceFrame, Frame* targetFrame, const std::string& provider, const std::string& port, const std::string& driverName, base::JointLimitRange& limits, const Eigen::Affine3d& sourceToAxis, const Eigen::Affine3d& parentToJointOrigin); 
        
        Joint(Frame* sourceFrame, Frame* targetFrame, const std::string& provider, const std::string& port, const std::string& driverName, base::JointLimitRange& limits, const Eigen::Affine3d& sourceToAxis, const Eigen::Affine3d& parentToJointOrigin, urdf::JointSharedPtr jointModel);

        const Eigen::Affine3d &getSourceToAxis() const;
        
        const Eigen::Affine3d &getParentToJointOrigin() const;
        
        void setParentToJointOrigin(const Eigen::Affine3d inParentToJointOrigin);
        
        urdf::JointSharedPtr getJointModel() const;

        std::pair<double, double> getPositionLimits() const;

        std::pair<double, double> getEffortLimits() const;

        std::pair<double, double> getSpeedLimits() const;

        void setParamFromConfigMap(configmaps::ConfigMap configMap);

        SpringParam getSpringParam() const;

        bool hasSpring() const;
        
    protected:
        
        std::string driverName;
        
        base::JointLimitRange limits;
        
        Eigen::Affine3d sourceToAxis;
        
        Eigen::Affine3d parentToJointOrigin;
        
        urdf::JointSharedPtr jointModel;

        SpringParam springParam;

        bool isDynamic;

        
    };
    

    

    
};

#endif // JOINT_H