RobotModel.h

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#ifndef INCLUDE_RML_ROBOTMODEL_H_
#define INCLUDE_RML_ROBOTMODEL_H_
 
#include <memory>
#include <vector>
 
#include "ArmModel.h"
#include "RMLDefines.h"
#include "RMLExceptions.h"
#include "VehicleModel.h"
 
namespace rml {
 
class RobotModel {
public:
    RobotModel(Eigen::TransformationMatrix inertialF_T_bodyF, std::string bodyFrameID);
    RobotModel(Eigen::TransformationMatrix inertialF_T_bodyF, std::string bodyFrameID, Eigen::MatrixXd bodyF_JBodyFrame);
    virtual ~RobotModel();
    auto Dof() const -> int { return DoF_; }
    bool LoadArm(const std::shared_ptr<ArmModel>& arm, const Eigen::TransformationMatrix& bodyFrameToArm) noexcept(false);
    auto BodyFrameID() const -> const std::string& { return bodyFrameID_; }
    void PositionOnInertialFrame(const Eigen::TransformationMatrix& inertialF_T_bodyF);
    void AttachRigidBodyFrame(const std::string& frameID, const std::string& attachedFrameID, const Eigen::TransformationMatrix& frameToAttachID_T_frameID) noexcept(false);
    bool CheckArm(const std::string& armID) const;
    auto IsMobile() const -> bool { return isMobileRobot_; }
 
    /*
     * For CartesianJacobian, JointSpaceJacobian, ManipulabilityJacobian and TransformationMatrix the id must be provieded according the following logic:
     * - n-th joint: armID + rml::FrameID::Joint + "n"
     * - rigidBody attached on arm: armID + "_" + "rigidBodyID"
     * - rigid body attached on body frame: robotName + "_" + rigidBodyID
     */
    Eigen::MatrixXd CartesianJacobian(const std::string& frameID) noexcept(false);
    Eigen::MatrixXd JointSpaceJacobian(const std::string& armID) noexcept(false);
    Eigen::MatrixXd ManipulabilityJacobian(const std::string& frameID) noexcept(false);
    double Manipulability(const std::string& frameID) noexcept(false);
    Eigen::MatrixXd DexterityJacobian(const std::string& frameID) noexcept(false);
    double Dexterity(const std::string& frameID) noexcept(false);
    Eigen::TransformationMatrix TransformationMatrix(const std::string& frameID) noexcept(false);
    Eigen::TransformationMatrix TransformationMatrix(const std::string& frameID_j, const std::string& frameID_k);
    const std::shared_ptr<ArmModel>& Arm(const std::string& ID) const noexcept(false);
    void PositionVector(Eigen::VectorXd& position) noexcept(false);
    Eigen::VectorXd PositionVector();
    void VelocityVector(const Eigen::VectorXd& velocity) noexcept(false);
    Eigen::VectorXd VelocityVector();
    Eigen::VectorXd AccelerationVector();
    void AccelerationVector(const Eigen::VectorXd& acceleration) noexcept(false);
    void PositionVector(const std::string& partID, const Eigen::VectorXd& position) noexcept(false);
    Eigen::VectorXd PositionVector(const std::string& partID) noexcept(false);
    void VelocityVector(const std::string& partID, const Eigen::VectorXd& velocity) noexcept(false);
    Eigen::VectorXd VelocityVector(const std::string& partID) noexcept(false);
    void AccelerationVector(const std::string& partID, const Eigen::VectorXd& acceleration) noexcept(false);
    Eigen::VectorXd AccelerationVector(const std::string& partID) noexcept(false);
    void ControlVector(const Eigen::VectorXd& y) noexcept(false);
    Eigen::VectorXd ControlVector(const std::string& partID) noexcept(false);
 
protected:
    Eigen::MatrixXd ArmJacobian(const std::string& frameID) const noexcept(false);
    Eigen::Matrix6d BaseJacobian(const std::string& frameID) const;
 
    std::shared_ptr<VehicleModel> robotBase_; 
    std::map<std::string, std::shared_ptr<ArmModel>> armsModel_; 
    std::unordered_map<std::string, Eigen::TransformationMatrix> bodyFrameToArm_; 
    std::string bodyFrameID_; 
    Eigen::TransformationMatrix inertialF_T_bodyF_; 
    int DoF_; 
    bool isMobileRobot_; 
};
 
} /* namespace rml */
 
#endif /* INCLUDE_RML_ROBOTMODEL_H_ */