RobotLink.h

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#ifndef SRC_ROBOTLINK_H_
#define SRC_ROBOTLINK_H_
 
#include <map>
#include <string>
 
#include "Types.h"
 
namespace rml {
 
enum class JointType : uint8_t { Fixed,
    Revolute,
    Prismatic };
 
const std::map<JointType, std::string> JointType2String = {
    { JointType::Fixed, "Fixed" },
    { JointType::Revolute, "Revolute" },
    { JointType::Prismatic, "Prismatic" }
};
 
class RobotLink {
    // Kinematic properties
    JointType type_;
    Eigen::Vector3d axis_;
    Eigen::TransformationMatrix baseTransf_;
    double jointLimitMin_;
    double jointLimitMAX_;
 
    // Dynamic properties
    double mass_;
    Eigen::Vector3d sizeVect_;
    Eigen::Vector3d CoM_;
    Eigen::Matrix3d Inertia_;
 
public:
    RobotLink();
    RobotLink(const JointType type, const Eigen::Vector3d& axis, const Eigen::TransformationMatrix& baseTransf, double jointLimMin, double jointLimMax);
    virtual ~RobotLink();
 
    void SetKinematicProperties(const JointType type, const Eigen::Vector3d& axis, const Eigen::TransformationMatrix& baseTransf, double jointLimMin, double jointLimMax);
 
    void SetDynamicProperties(double mass, const Eigen::Vector3d& sizes, const Eigen::Vector3d& CoM, const Eigen::Matrix3d& Inertia);
 
    JointType Type() const { return type_; }
    const Eigen::Vector3d& Axis() const { return axis_; }
    const Eigen::TransformationMatrix& BaseTransf() const { return baseTransf_; }
    double JointLimitMax() const { return jointLimitMAX_; }
    double JointLimitMin() const { return jointLimitMin_; }
 
    double Mass() const { return mass_; }
    const Eigen::Vector3d& Sizes() const { return sizeVect_; }
    const Eigen::Vector3d& CoM() const { return CoM_; }
    const Eigen::Matrix3d& Inertia() const { return Inertia_; }
};
}
 
#endif /* SRC_ROBOTLINK_H_ */