robot/ToolDescription

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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: ToolDescription 1039 2004-02-11 20:50:52Z jungd $
  $Revision: 1.5 $
  $Date: 2004-02-11 15:50:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_TOOLDESCRIPTION_
#define _ROBOT_TOOLDESCRIPTION_

#include <robot/robot>

#include <base/Named>
#include <base/ReferencedObject>
#include <base/Externalizable>
#include <robot/KinematicChain>


namespace robot {

/**
 * An abstract description of a Tool
 */
class ToolDescription : public base::Named, public base::Externalizable, public base::ReferencedObject
{
public:
  ToolDescription() {}
  ToolDescription(const ToolDescription& t) 
    : Named(t), kinematicChain(t.kinematicChain) {}

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

  ToolDescription& operator=(const ToolDescription& t)
    { setName( t.getName() ); kinematicChain=t.kinematicChain; return *this; }

  /**
   * get a kinematic chain that describes this tool.
   * The first link of a tool is static (0-dof).  For example, a simple extension
   *  tool consists of a single static link, thus has 0-dof.
   *  In general, tools can have an arbitrary number of links, possibly with
   *   joints, analogous to a manipulator.
   */
  virtual KinematicChain getKinematicChain(Int p=0) const
    { return kinematicChain; }


  bool operator==(const ToolDescription& td) const
    {
      if (&td == this) return true;
      return (kinematicChain==td.kinematicChain);
    }

  bool operator!=(const ToolDescription& td) const { return !(*this == td); }
  
  bool equals(ref<const ToolDescription> td) const { return (*this == *td); }


  // 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);
  void externalize(base::Externalizer& e, String format = "", Real version = 1.0) const
    { Externalizable::externalize(e,format,version); }

protected:
  ToolDescription(const String& name) : Named(name) {}
  
  virtual void setKinematicChain(const KinematicChain& kc) { kinematicChain=kc; }

private:
  KinematicChain kinematicChain;

  friend class Robot;
};


} // robot

#endif

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