robot/RobotDescription

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
        
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
        
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: RobotDescription 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.6 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_ROBOTDESCRIPTION_
#define _ROBOT_ROBOTDESCRIPTION_

#include <robot/robot>

#include <base/array>
#include <base/Named>
#include <base/Externalizable>
#include <base/ReferencedObject>

#include <robot/PlatformDescription>
#include <robot/ManipulatorDescription>
#include <robot/KinematicChain>


namespace robot {

/**
 * An abstract description of a Robot
 */
class RobotDescription : public base::Named, public base::Externalizable, public base::ReferencedObject
{
public:
  RobotDescription() {}
  RobotDescription(String name, ref<const PlatformDescription> platformDescription, 
                   array<ref<const ManipulatorDescription> > manipulatorDescriptions, 
                   array<Vector3> manipulatorOffsets)
    : Named(name), platformDescr(platformDescription), 
      manipulatorDescrs(manipulatorDescriptions), manipOffsets(manipulatorOffsets) 
    {}

  RobotDescription(const RobotDescription& r) 
    : Named(r), platformDescr(r.platformDescr),
      manipulatorDescrs(r.manipulatorDescrs),
      manipOffsets(r.manipOffsets)
    {}

  virtual String className() const { return String("RobotDescription"); }
  
  
  void set(String name, ref<const PlatformDescription> platformDescription, 
           array<ref<const ManipulatorDescription> > manipulatorDescriptions, 
           array<Vector3> manipulatorOffsets)
    {
      setName(name);
      setPlatformDescription(platformDescription);
      setManipulatorDescriptions(manipulatorDescriptions);
      setManipulatorOffsets(manipulatorOffsets);
    }
  
  
  // factory
  virtual ref<PlatformDescription>    newPlatformDescription() const { return ref<PlatformDescription>(NewObj PlatformDescription()); }
  virtual ref<ManipulatorDescription> newManipulatorDescription() const { return ref<ManipulatorDescription>(NewObj ManipulatorDescription()); }

  
  RobotDescription& operator=(const RobotDescription& r)
    {
      setName(r.getName());
      platformDescr = r.platformDescr;
      manipulatorDescrs = r.manipulatorDescrs;
      manipOffsets = r.manipOffsets;
      return *this;
    }

  /// get description of this robot's platform
  virtual ref<const PlatformDescription>       platform() const     { return platformDescr; }

  /// get descriptions of this robot's manipulators (if any)
  virtual const array<ref<const ManipulatorDescription> >& manipulators() const { return manipulatorDescrs; }

  /// get the offset of each manipulator from the platform origin
  virtual const array<Vector3>&                manipulatorOffsets() const { return manipOffsets; }

  
  /**
   * get an equivelent kinematic chain for the robot (from world frame to indicated manipulator end-effector).
   * The platform dof can either be 0, 3 or 6:
   * - 0-dof: the first link in the chain is a FixedTransform set to platformTransform (transform from world frame to platform origin)
   * - 3-dof: platform position in the 2D (x,y) plane with orientation theta about the Z-axis.
   *          The static components of the platform position are taken from platformTransform.
   * - 6-dof: platform position in 3D (x,y,z) and EulerRPY (roll, pitch, yaw) orientation.
   * If the platform is not mobile, the platformDOF is considered 0
   * If the robot has no manipulator, the chain ends at the platform origin.
   */
  virtual KinematicChain getKinematicChain(Int platformDOF=0, const base::Matrix4& platformTransform = base::Matrix4(),
                                           Int manipIndex=0, Int manipChainIndex=0) const;

  
  // Externalizable
  virtual bool formatSupported(const String format, Real version = 1.0, ExternalizationType type = IO) const
    { return ( (format=="xml") && (version==1.0) ); }
  virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0);
  virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0) const
    { Externalizable::externalize(e,format,version); }


protected:
  RobotDescription(const String& name) : Named(name) {}
  
  void setPlatformDescription(ref<const PlatformDescription> pd) { platformDescr = pd; }
  void setManipulatorDescriptions(const array<ref<const ManipulatorDescription> >& mds) { manipulatorDescrs = mds; }
  void setManipulatorOffsets(const array<Vector3> offsets) { manipOffsets=offsets; }

private:
  ref<const PlatformDescription>            platformDescr;     ///< description of mobile platform
  array<ref<const ManipulatorDescription> > manipulatorDescrs; ///< list of manipulators attached to platform
  array<Vector3>                            manipOffsets;      ///< Vectors representing the offset of each manipulator relative to the platform coord. frame 

  friend class Robot;
};


} // robot

#endif

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