src/Joint.hh

/*
 * Copyright Staffan Gimåker 2006-2010.
 * Copyright Anders Boberg 2007.
 *
 * ---
 *
 * This file is part of peekabot.
 *
 * peekabot 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 3 of the License, or
 * (at your option) any later version.
 *
 * peekabot 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.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef PEEKABOT_JOINT_HH_INCLUDED
#define PEEKABOT_JOINT_HH_INCLUDED


#include <stdexcept>
#include <Eigen/Geometry>

#include "Types.hh"
#include "SceneObject.hh"
#include "XMLHandler.hh"


namespace peekabot
{
    class ScopedHandler;


    class Joint : public SceneObject
    {
    public:
        Joint(const std::string &default_name) throw();

        Joint(const std::string &default_name,
            ScopedHandler *handler) throw();

        virtual ~Joint() throw();

        float get_min_value() const throw();

        void set_min_value(float min) throw(std::domain_error);

        float get_max_value() const throw();

        void set_max_value(float max) throw(std::domain_error);

        float get_value() const throw();

        void set_value_offset(float offset) throw();

        float get_value_offset() const throw();

        void set_value(float value) throw(std::domain_error);

        virtual Eigen::Transform3f calculate_dof_transform(float value)
            const throw() = 0;

        Eigen::Transform3f get_full_transform(float value)
            const throw();


        typedef boost::signals2::signal<void ()> JointValueSetSignal;

        typedef boost::signals2::signal<void ()> JointMinSetSignal;

        typedef boost::signals2::signal<void ()> JointMaxSetSignal;

        typedef boost::signals2::signal<void ()> JointOffsetSetSignal;

        inline JointValueSetSignal &joint_value_set_signal()
        {
            return m_joint_value_set_signal;
        }

        inline JointMinSetSignal &joint_min_set_signal()
        {
            return m_joint_min_set_signal;
        }

        inline JointMaxSetSignal &joint_max_set_signal()
        {
            return m_joint_max_set_signal;
        }

        inline JointOffsetSetSignal &joint_offset_set_signal()
        {
            return m_joint_offset_set_signal;
        }


    protected:
        void check_pre_transform() const throw();


        mutable Eigen::Transform3f m_pre_dof_mtop;


        Eigen::Transform3f m_dof_xform;

        virtual PropMap &get_prop_adapters();

    private:
        static void create_prop_adapters(PropMap &adapters);

    private:
        float m_min;

        float m_max;

        float m_val;

        float m_offset;

        JointValueSetSignal m_joint_value_set_signal;
        JointMinSetSignal m_joint_min_set_signal;
        JointMaxSetSignal m_joint_max_set_signal;
        JointOffsetSetSignal m_joint_offset_set_signal;
    };
}


#endif // PEEKABOT_JOINT_HH_INCLUDED