robot/sim/SimulatedManipulatorDescription

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/* **-*-c++-*-**************************************************************
  Copyright (C)2004 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: SimulatedManipulatorDescription 1033 2004-02-11 20:47:52Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:47:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_SIMULATEDMANIPULATORDESCRIPTION_
#define _ROBOT_SIMULATEDMANIPULATORDESCRIPTION_

#include <robot/robot>

#include <robot/ManipulatorDescription>


namespace robot {
namespace sim {

/**
 * An description of a manipulator specific to simulations
 * (includes information relevant to a simulation, such as the initial joint
 *  configuration, link geometry & appearance etc.)
 */
class SimulatedManipulatorDescription : public ManipulatorDescription
{
public:
  SimulatedManipulatorDescription() {}
  
  SimulatedManipulatorDescription(String name, Matrix4 baseTransform, KinematicChain kinematicChain)
    : ManipulatorDescription(name, baseTransform, kinematicChain), 
      q(zeroVector(kinematicChain.dof())), linkGeometrySpecified(false), 
      hasProxSensors(false), proxSensorRange(1.0) {}
      
  SimulatedManipulatorDescription(const ManipulatorDescription& md) 
    : ManipulatorDescription(md), q(zeroVector(md.getKinematicChain().dof())), 
      linkGeometrySpecified(false), hasProxSensors(false), proxSensorRange(1.0) {}
    
  SimulatedManipulatorDescription(const SimulatedManipulatorDescription& md) 
    : ManipulatorDescription(md), q(md.q), linkGeometrySpecified(md.linkGeometrySpecified), 
      linkRadii(md.linkRadii), hasProxSensors(hasProxSensors), proxSensorRange(proxSensorRange) {}

  SimulatedManipulatorDescription& operator=(const SimulatedManipulatorDescription& md)
    {
      ManipulatorDescription::operator=(md);
      q = md.q;
      linkGeometrySpecified = md.linkGeometrySpecified;
      linkRadii = md.linkRadii;
      hasProxSensors = md.hasProxSensors;
      proxSensorRange = md.proxSensorRange;
      return *this;
    }

  virtual String className() const { return String("SimulatedManipulatorDescription"); }


  bool operator==(const SimulatedManipulatorDescription& md)
    {
      if (&md == this) return true;
      return ManipulatorDescription::operator==(md);
    }

  bool operator!=(const SimulatedManipulatorDescription& md) { return !(*this == md); }

  
  // Simulation specific information
  
  Vector initialConfiguration() const { return q; }
  bool   hasGeometry() const { return linkGeometrySpecified; }
  array<Real> getLinkRadii() const { return linkRadii; }
  bool   hasLinkProximitySensors() const { return hasProxSensors; }
  Real   linkProximitySensorRange() const { return proxSensorRange; } 


  // 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:
  SimulatedManipulatorDescription(String name) : ManipulatorDescription(name) {}
  

private:
  Vector q; ///< initial joint configuration
  bool linkGeometrySpecified;
  array<Real> linkRadii;  ///< radius of links (assuming cylindrical)
  bool hasProxSensors;
  Real proxSensorRange;   ///< max range of link proximity sensors
  
//  friend class Robot;
};


}
} // robot::sim

#endif

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