robot_link.h

Go to the documentation of this file.

#pragma once
#include "webcface/component_view.h"
#include "webcface/common/encoding.h"
#include "webcface/geometry.h"
#include "webcface/transform.h"
#ifdef WEBCFACE_MESON
#include "webcface-config.h"
#else
#include "webcface/common/webcface-config.h"
#endif
 
WEBCFACE_NS_BEGIN
namespace internal {
struct TemporalRobotJointData;
struct RobotLinkData;
} // namespace internal
 
enum class RobotJointType {
    fixed_absolute = 0,
    fixed = 1,
    rotational = 2,
    prismatic = 3,
};
class RobotLink;
class WEBCFACE_DLL RobotJoint {
    std::unique_ptr<internal::TemporalRobotJointData> temp_data;
    std::shared_ptr<internal::RobotLinkData> msg_data;
 
  public:
    friend class RobotLink;
 
    RobotJoint();
    explicit RobotJoint(
        const std::shared_ptr<internal::RobotLinkData> &msg_data);
    RobotJoint(const SharedString &name, const SharedString &parent_name,
               RobotJointType type, const Transform &origin, double angle);
    ~RobotJoint();
    RobotJoint(const RobotJoint &other);
    RobotJoint &operator=(const RobotJoint &other);
 
    StringView name() const;
    WStringView nameW() const;
    std::optional<RobotLink> parent() const;
    RobotJointType type() const;
    Transform origin() const;
    double angle() const;
};
 
inline namespace robot_joints {
inline RobotJoint fixedAbsolute(const Transform &origin) {
    return RobotJoint{nullptr, nullptr, RobotJointType::fixed_absolute, origin,
                      0};
}
inline RobotJoint fixedAbsolute(const Point &origin) {
    return fixedAbsolute(Transform{origin, {}});
}
inline RobotJoint fixedJoint(const StringInitializer &parent_name,
                             const Transform &origin) {
    return RobotJoint{nullptr, parent_name,
                      RobotJointType::fixed, origin, 0};
}
inline RobotJoint fixedJoint(const StringInitializer &parent_name,
                             const Point &origin) {
    return fixedJoint(parent_name, Transform{origin, {}});
}
inline RobotJoint rotationalJoint(const StringInitializer &name,
                                  const StringInitializer &parent_name,
                                  const Transform &origin, double angle = 0) {
    return RobotJoint{name,
                      parent_name,
                      RobotJointType::rotational, origin, angle};
}
inline RobotJoint prismaticJoint(const StringInitializer &name,
                                 const StringInitializer &parent_name,
                                 const Transform &origin, double angle = 0) {
    return RobotJoint{name,
                      parent_name,
                      RobotJointType::prismatic, origin, angle};
}
} // namespace robot_joints
 
namespace RobotJoints = robot_joints; // 〜ver1.11
 
class WEBCFACE_DLL RobotLink {
    std::shared_ptr<internal::RobotLinkData> msg_data;
 
  public:
    RobotLink();
    explicit RobotLink(
        const std::shared_ptr<internal::RobotLinkData> &msg_data);
    ~RobotLink();
    RobotLink(const SharedString &name, const RobotJoint &joint,
              const Geometry &geometry, ViewColor color);
 
    std::shared_ptr<internal::RobotLinkData>
    lockJoints(const std::vector<SharedString> &link_names) const;
 
    RobotLink(const StringInitializer &name, const RobotJoint &joint,
              const Geometry &geometry, ViewColor color = ViewColor::inherit)
        : RobotLink(static_cast<const SharedString &>(name), joint, geometry, color) {}
    RobotLink(const StringInitializer &name, const Geometry &geometry,
              ViewColor color = ViewColor::inherit)
        : RobotLink(static_cast<const SharedString &>(name), fixedAbsolute({0, 0, 0}), geometry, color) {}
 
    StringView name() const;
    WStringView nameW() const;
    RobotJoint joint() const;
    std::optional<Geometry> geometry() const;
    ViewColor color() const;
};
WEBCFACE_NS_END