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Joint.cc
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Joint.cc
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/*
* Copyright 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <algorithm>
#include <array>
#include <memory>
#include <string>
#include <utility>
#include <ignition/math/Pose3.hh>
#include "sdf/Error.hh"
#include "sdf/Joint.hh"
#include "sdf/JointAxis.hh"
#include "sdf/Types.hh"
#include "Utils.hh"
using namespace sdf;
class sdf::JointPrivate
{
public: JointPrivate()
{
// Initialize here because windows does not support list initialization
// at member initialization (ie ... axis = {{nullptr, nullpter}};).
this->axis[0] = nullptr;
this->axis[1] = nullptr;
}
/// \brief Copy constructor
/// \param[in] _jointPrivate JointPrivate to copy.
public: explicit JointPrivate(const JointPrivate &_jointPrivate);
// Delete copy assignment so it is not accidentally used
public: JointPrivate &operator=(const JointPrivate &_) = delete;
/// \brief Name of the joint.
public: std::string name = "";
/// \brief Name of the parent link.
public: std::string parentLinkName = "";
/// \brief Name of the child link.
public: std::string childLinkName = "";
/// \brief the joint type.
public: JointType type = JointType::INVALID;
/// \brief Pose of the joint
public: ignition::math::Pose3d pose = ignition::math::Pose3d::Zero;
/// \brief Frame of the pose.
public: std::string poseRelativeTo = "";
/// \brief Thread pitch for screw joints.
public: double threadPitch = 1.0;
/// \brief Joint axis
// cppcheck-suppress
public: std::array<std::unique_ptr<JointAxis>, 2> axis;
/// \brief The SDF element pointer used during load.
public: sdf::ElementPtr sdf;
/// \brief Weak pointer to model's Pose Relative-To Graph.
public: std::weak_ptr<const sdf::PoseRelativeToGraph> poseRelativeToGraph;
};
/////////////////////////////////////////////////
JointPrivate::JointPrivate(const JointPrivate &_jointPrivate)
: name(_jointPrivate.name),
parentLinkName(_jointPrivate.parentLinkName),
childLinkName(_jointPrivate.childLinkName),
type(_jointPrivate.type),
pose(_jointPrivate.pose),
poseRelativeTo(_jointPrivate.poseRelativeTo),
threadPitch(_jointPrivate.threadPitch),
sdf(_jointPrivate.sdf),
poseRelativeToGraph(_jointPrivate.poseRelativeToGraph)
{
for (std::size_t i = 0; i < _jointPrivate.axis.size(); ++i)
{
if (_jointPrivate.axis[i])
{
this->axis[i] = std::make_unique<JointAxis>(*_jointPrivate.axis[i]);
}
}
}
/////////////////////////////////////////////////
Joint::Joint()
: dataPtr(new JointPrivate)
{
}
/////////////////////////////////////////////////
Joint::~Joint()
{
delete this->dataPtr;
this->dataPtr = nullptr;
}
//////////////////////////////////////////////////
Joint::Joint(const Joint &_joint)
: dataPtr(new JointPrivate(*_joint.dataPtr))
{
}
/////////////////////////////////////////////////
Joint::Joint(Joint &&_joint) noexcept
: dataPtr(std::exchange(_joint.dataPtr, nullptr))
{
}
/////////////////////////////////////////////////
Joint &Joint::operator=(const Joint &_joint)
{
return *this = Joint(_joint);
}
/////////////////////////////////////////////////
Joint &Joint::operator=(Joint &&_joint)
{
std::swap(this->dataPtr, _joint.dataPtr);
return *this;
}
/////////////////////////////////////////////////
Errors Joint::Load(ElementPtr _sdf)
{
Errors errors;
this->dataPtr->sdf = _sdf;
// Check that the provided SDF element is a <joint>
// This is an error that cannot be recovered, so return an error.
if (_sdf->GetName() != "joint")
{
errors.push_back({ErrorCode::ELEMENT_INCORRECT_TYPE,
"Attempting to load a Joint, but the provided SDF element is not a "
"<joint>."});
return errors;
}
// Read the joints's name
if (!loadName(_sdf, this->dataPtr->name))
{
errors.push_back({ErrorCode::ATTRIBUTE_MISSING,
"A joint name is required, but the name is not set."});
}
// Check that the joint's name is valid
if (isReservedName(this->dataPtr->name))
{
errors.push_back({ErrorCode::RESERVED_NAME,
"The supplied joint name [" + this->dataPtr->name +
"] is reserved."});
}
// Load the pose. Ignore the return value since the pose is optional.
loadPose(_sdf, this->dataPtr->pose, this->dataPtr->poseRelativeTo);
// Read the parent link name
std::pair<std::string, bool> parentPair =
_sdf->Get<std::string>("parent", "");
if (parentPair.second)
{
this->dataPtr->parentLinkName = parentPair.first;
}
else
{
errors.push_back({ErrorCode::ELEMENT_MISSING,
"The parent element is missing."});
}
// Read the child link name
std::pair<std::string, bool> childPair = _sdf->Get<std::string>("child", "");
if (childPair.second)
{
this->dataPtr->childLinkName = childPair.first;
}
else
{
errors.push_back({ErrorCode::ELEMENT_MISSING,
"The child element is missing."});
}
if (this->dataPtr->childLinkName == "world")
{
errors.push_back({ErrorCode::JOINT_CHILD_LINK_INVALID,
"Joint with name[" + this->dataPtr->name +
"] specified invalid child link [world]."});
}
if (this->dataPtr->childLinkName == this->dataPtr->parentLinkName)
{
errors.push_back({ErrorCode::JOINT_PARENT_SAME_AS_CHILD,
"Joint with name[" + this->dataPtr->name +
"] must specify different link names for "
"parent and child, while [" + this->dataPtr->childLinkName +
"] was specified for both."});
}
if (_sdf->HasElement("axis"))
{
this->dataPtr->axis[0].reset(new JointAxis());
Errors axisErrors = this->dataPtr->axis[0]->Load(_sdf->GetElement("axis"));
errors.insert(errors.end(), axisErrors.begin(), axisErrors.end());
}
if (_sdf->HasElement("axis2"))
{
this->dataPtr->axis[1].reset(new JointAxis());
Errors axisErrors = this->dataPtr->axis[1]->Load(_sdf->GetElement("axis2"));
errors.insert(errors.end(), axisErrors.begin(), axisErrors.end());
}
this->dataPtr->threadPitch = _sdf->Get<double>("thread_pitch", 1.0).first;
// Read the type
std::pair<std::string, bool> typePair = _sdf->Get<std::string>("type", "");
if (typePair.second)
{
typePair.first = lowercase(typePair.first);
if (typePair.first == "ball")
this->dataPtr->type = JointType::BALL;
else if (typePair.first == "continuous")
this->dataPtr->type = JointType::CONTINUOUS;
else if (typePair.first == "fixed")
this->dataPtr->type = JointType::FIXED;
else if (typePair.first == "gearbox")
this->dataPtr->type = JointType::GEARBOX;
else if (typePair.first == "prismatic")
this->dataPtr->type = JointType::PRISMATIC;
else if (typePair.first == "revolute")
this->dataPtr->type = JointType::REVOLUTE;
else if (typePair.first == "revolute2")
this->dataPtr->type = JointType::REVOLUTE2;
else if (typePair.first == "screw")
this->dataPtr->type = JointType::SCREW;
else if (typePair.first == "universal")
this->dataPtr->type = JointType::UNIVERSAL;
else
{
this->dataPtr->type = JointType::INVALID;
errors.push_back({ErrorCode::ATTRIBUTE_INVALID,
"Joint type of " + typePair.first +
" is invalid. Refer to the SDF documentation for a list of "
"valid joint types"});
}
}
else
{
errors.push_back({ErrorCode::ATTRIBUTE_MISSING,
"A joint type is required, but is not set."});
}
return errors;
}
/////////////////////////////////////////////////
const std::string &Joint::Name() const
{
return this->dataPtr->name;
}
/////////////////////////////////////////////////
void Joint::SetName(const std::string &_name)
{
this->dataPtr->name = _name;
}
/////////////////////////////////////////////////
JointType Joint::Type() const
{
return this->dataPtr->type;
}
/////////////////////////////////////////////////
void Joint::SetType(const JointType _jointType)
{
this->dataPtr->type = _jointType;
}
/////////////////////////////////////////////////
const std::string &Joint::ParentLinkName() const
{
return this->dataPtr->parentLinkName;
}
/////////////////////////////////////////////////
void Joint::SetParentLinkName(const std::string &_name)
{
this->dataPtr->parentLinkName = _name;
}
/////////////////////////////////////////////////
const std::string &Joint::ChildLinkName() const
{
return this->dataPtr->childLinkName;
}
/////////////////////////////////////////////////
void Joint::SetChildLinkName(const std::string &_name)
{
this->dataPtr->childLinkName = _name;
}
/////////////////////////////////////////////////
const JointAxis *Joint::Axis(const unsigned int _index) const
{
return this->dataPtr->axis[std::min(_index, 1u)].get();
}
/////////////////////////////////////////////////
void Joint::SetAxis(const unsigned int _index, const JointAxis &_axis)
{
this->dataPtr->axis[std::min(_index, 1u)] =
std::make_unique<JointAxis>(_axis);
}
/////////////////////////////////////////////////
const ignition::math::Pose3d &Joint::Pose() const
{
return this->RawPose();
}
/////////////////////////////////////////////////
const ignition::math::Pose3d &Joint::RawPose() const
{
return this->dataPtr->pose;
}
/////////////////////////////////////////////////
const std::string &Joint::PoseFrame() const
{
return this->PoseRelativeTo();
}
/////////////////////////////////////////////////
const std::string &Joint::PoseRelativeTo() const
{
return this->dataPtr->poseRelativeTo;
}
/////////////////////////////////////////////////
void Joint::SetPose(const ignition::math::Pose3d &_pose)
{
this->SetRawPose(_pose);
}
/////////////////////////////////////////////////
void Joint::SetRawPose(const ignition::math::Pose3d &_pose)
{
this->dataPtr->pose = _pose;
}
/////////////////////////////////////////////////
void Joint::SetPoseFrame(const std::string &_frame)
{
this->SetPoseRelativeTo(_frame);
}
/////////////////////////////////////////////////
void Joint::SetPoseRelativeTo(const std::string &_frame)
{
this->dataPtr->poseRelativeTo = _frame;
}
/////////////////////////////////////////////////
void Joint::SetPoseRelativeToGraph(
std::weak_ptr<const PoseRelativeToGraph> _graph)
{
this->dataPtr->poseRelativeToGraph = _graph;
for (auto& axis : this->dataPtr->axis)
{
if (axis)
{
axis->SetXmlParentName(this->dataPtr->name);
axis->SetPoseRelativeToGraph(this->dataPtr->poseRelativeToGraph);
}
}
}
/////////////////////////////////////////////////
sdf::SemanticPose Joint::SemanticPose() const
{
return sdf::SemanticPose(
this->dataPtr->pose,
this->dataPtr->poseRelativeTo,
this->ChildLinkName(),
this->dataPtr->poseRelativeToGraph);
}
/////////////////////////////////////////////////
double Joint::ThreadPitch() const
{
return this->dataPtr->threadPitch;
}
/////////////////////////////////////////////////
void Joint::SetThreadPitch(double _threadPitch)
{
this->dataPtr->threadPitch = _threadPitch;
}
/////////////////////////////////////////////////
sdf::ElementPtr Joint::Element() const
{
return this->dataPtr->sdf;
}