Joint.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#ifndef _MIRA_JOINT_H_
#define _MIRA_JOINT_H_

#include <geometry/Point.h>
#include <transform/Pose.h>
#include <serialization/adapters/boost/optional.hpp>

#include <model/RigidModelExports.h>

namespace mira { namespace model {


class MIRA_RIGID_MODEL_EXPORT Joint
{
public:
    enum Type
    {
        FIXED,      
        REVOLUTE,   
        CONTINUOUS, 
        PRISMATIC,  
        FLOATING,   
    };

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Name", name, "Name of the link");
        r.member("Type", type, "The joint's type");
        r.member("Origin", origin, "Origin", Pose3());
        r.member("Axis", axis, "Axis", Point3f(1.0f, 0.0f, 0.0f));
        r.member("Parent", parent, "Parent link");
        r.member("Child", child, "Child link");
        r.member("LowerLimit", lowerLimit, "Lower limit (rad for revolute and "
                 "meter for prismatic)", -pi<float>());
        r.member("UpperLimit", upperLimit, "Upper limit (rad for revolute and "
                 "meter for prismatic)", pi<float>());
    }

    std::string name;   
    Type type;          
    Pose3 origin;       
    Point3f axis;       
    std::string parent; 
    std::string child;  
    float lowerLimit;   
    float upperLimit;   
};

typedef boost::shared_ptr<Joint> JointPtr;


}}

#endif