---

DHData.h

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//
//      Title           : DHData.h
//      Project         : OSCAR
//      Created         : 
//      Author          : Chetan Kapoor
//      Platforms       : All
//      Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//       Purpose         : Class for loading DH Parameters from file
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//                  - 2/26/97 Mitch Pryor modified for SG compilation
//                  - 3/10/01 Added Additional constructor
//
//       $Log: DHData.h,v $
//       Revision 1.13  2006/03/30 19:15:56  chetan
//       GetAngleUnits added
//
//       Revision 1.12  2005/04/06 20:45:20  chetan
//       Re-added virtual inheritance from RobotData
//
//       Revision 1.11  2005/03/18 23:28:05  chetan
//       Removed virtual inheritance and fixed ambiguity in base class method calls
//
//       Revision 1.10  2005/03/18 20:55:23  chetan
//       Enabled W4 level warnings and fixed warnings
//
//       Revision 1.9  2005/03/14 21:52:28  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.8  2005/01/13 01:23:09  chetan
//       Fixed documentation
//
//       Revision 1.7  2004/11/15 21:04:37  chetan
//       Added addition Set and Get method. Added Update method
//
//       Revision 1.6  2004/11/11 23:19:50  chetan
//       Fixed documentation, operator=, anc const ref constructors
//
//       Revision 1.5  2004/11/05 17:33:03  chetan
//       Added a constructor that allows the creation of a DHData object that does not hold any DH parameters. Added methods to modify the stored DH parameters.
//
//       Revision 1.4  2004/07/23 20:13:41  chetan
//       Changes to Conform with Warning Level 4 and latest g++ and .NET compilation
//
//       Revision 1.3  2004/06/04 20:23:25  chetan
//       Changed cout, cin, *stream to std::cout, std::cin, std::*stream
//
//       Revision 1.2  2004/05/26 19:51:34  pmarch
//       Added /defgroup and /ingroup tags.
//
//       Revision 1.1  2003/08/18 20:26:39  eswint
//       Initial Commit
//
//
#ifndef DHData_h
#define DHData_h

#include "FileData/RobotData.h"
#include "Math/Matrix.h"

namespace OSCAR {

  class DHData : public virtual RobotData
  {
    public:

          enum DHDataFormat 
          {
                    Craig, 
                    Paul
      };

          
          //Either of these variables should be used to specify whether a particular joint is
          //prismatic or revolute.  This is done while creating an Matrix which is used to create
          //an DHData object.
          static const double var, VAR;
  
          DHData(const String& filename,
              OSCARError &err = DUMMY_ERROR(noError),
              char commentMarker = '#', const String name = String(" "));

          DHData(const Matrix& dhParams, AngleUnits angUnits = Degrees, DHDataFormat dhFormat = Craig,
             OSCARError &err = DUMMY_ERROR(noError),
             const String name = String(" "));
            DHData(OSCARError &err = DUMMY_ERROR(noError), const String name = String(" "));


          DHData(const DHData& rhs);

          virtual ~DHData();

          DHData& operator=(const DHData& rhs);
  
          unsigned int GetDOF(void) const;

          const Matrix* GetParameters() const;

     bool  SetParameters(const Matrix& dhParams, AngleUnits angUnits = Degrees, DHDataFormat dhFormat = Craig);

     AngleUnits GetAngleUnits() const {return angleUnits; }
     void  SetAngleUnits(AngleUnits angUnits) {angleUnits = angUnits;}

          double        operator()(unsigned int jointNumber, unsigned int col) const;

          char GetJointType(unsigned int jointNumber) const;

          DHDataFormat GetDHDataFormat() const;

    void SetDHDataFormat(DHDataFormat dhFormat);

    protected:
            Matrix *dhparameters;        //a matrix of DH paramateres
            char *joint_type;           //holds data about joint type (P or R)
            unsigned int DOF;  //number of DOF
            DHDataFormat dhFormat;  //format of data
      AngleUnits  angleUnits; // degree or radian to express DH angles

    private:

  
    void loadparameters(std::ifstream& fileStream, const char commentMarker);
  
          void toLowerCase(char* inputString, char* outputString);

  };

   extern std::ostream& operator<<(std::ostream& out,const DHData& D);

  #include "FileData/DHData.ipp"

}

#endif  // DHData_h

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