/usr/include/fcl/articulated_model/joint.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
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* with the distribution.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/** \author Dalibor Matura, Jia Pan */
#ifndef FCL_ARTICULATED_MODEL_JOINT_H
#define FCL_ARTICULATED_MODEL_JOINT_H
#include "fcl/math/transform.h"
#include "fcl/data_types.h"
#include <string>
#include <vector>
#include <map>
#include <limits>
#include <memory>
namespace fcl
{
class JointConfig;
class Link;
enum JointType {JT_UNKNOWN, JT_PRISMATIC, JT_REVOLUTE, JT_BALLEULER};
/// @brief Base Joint
class Joint
{
public:
Joint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name);
Joint(const std::string& name);
virtual ~Joint() {}
const std::string& getName() const;
void setName(const std::string& name);
virtual Transform3f getLocalTransform() const = 0;
virtual std::size_t getNumDofs() const = 0;
std::shared_ptr<JointConfig> getJointConfig() const;
void setJointConfig(const std::shared_ptr<JointConfig>& joint_cfg);
std::shared_ptr<Link> getParentLink() const;
std::shared_ptr<Link> getChildLink() const;
void setParentLink(const std::shared_ptr<Link>& link);
void setChildLink(const std::shared_ptr<Link>& link);
JointType getJointType() const;
const Transform3f& getTransformToParent() const;
void setTransformToParent(const Transform3f& t);
protected:
/// links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency
std::weak_ptr<Link> link_parent_, link_child_;
JointType type_;
std::string name_;
std::shared_ptr<JointConfig> joint_cfg_;
Transform3f transform_to_parent_;
};
class PrismaticJoint : public Joint
{
public:
PrismaticJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name,
const Vec3f& axis);
virtual ~PrismaticJoint() {}
Transform3f getLocalTransform() const;
std::size_t getNumDofs() const;
const Vec3f& getAxis() const;
protected:
Vec3f axis_;
};
class RevoluteJoint : public Joint
{
public:
RevoluteJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name,
const Vec3f& axis);
virtual ~RevoluteJoint() {}
Transform3f getLocalTransform() const;
std::size_t getNumDofs() const;
const Vec3f& getAxis() const;
protected:
Vec3f axis_;
};
class BallEulerJoint : public Joint
{
public:
BallEulerJoint(const std::shared_ptr<Link>& link_parent, const std::shared_ptr<Link>& link_child,
const Transform3f& transform_to_parent,
const std::string& name);
virtual ~BallEulerJoint() {}
std::size_t getNumDofs() const;
Transform3f getLocalTransform() const;
};
}
#endif
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