---

ManipulatorData.h

Go to the documentation of this file.

//
//      Title           : ManipulatorData.h
//      Project         : OSCAR
//      Created         : November 3, 2004. 4:00 PM
//      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//          This software and documentation constitute an unpublished work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 related data for a manipulator
//                         specified in XML format
//
//----------------------------------------------------------------------------
//       $Log: ManipulatorData.h,v $
//       Revision 1.14  2006/05/26 20:46:58  chetan
//       Added SpecificationData
//
//       Revision 1.13  2006/03/29 23:21:48  chetan
//       Added method   void  ManipulatorData::SetConfigurationsOfInterestAngleUnits(AngleUnits configAngleUnits)
//
//       Revision 1.12  2005/11/21 22:46:11  chetan
//       Added Get/SetConfigurationsOfInterest methods
//
//       Revision 1.11  2005/09/30 01:57:54  chetan
//       Added FramesOfInterest
//
//       Revision 1.10  2005/07/01 18:57:14  chetan
//       Changed documentation
//
//       Revision 1.9  2005/06/29 04:30:35  chetan
//       Quite a few changes to improve Output of XML and addition of custom root element names, addition of manipulator obstacle model, etc.
//
//       Revision 1.8  2005/06/22 02:25:51  chetan
//       minor edits. documentation
//
//       Revision 1.7  2005/03/15 19:15:27  chetan
//       Fixed Documentation
//
//       Revision 1.6  2005/03/15 19:10:44  chetan
//       Added LimitsData member and associated methods
//
//       Revision 1.5  2005/03/14 21:52:31  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.4  2005/01/13 01:23:10  chetan
//       Fixed documentation
//
//       Revision 1.3  2004/11/09 16:42:27  chetan
//       Added $Log in the file header to enable CVS version text
//
//
#ifndef ManipulatorData_h
#define ManipulatorData_h

#include "FileData/XMLData.h"
#include "FileData/XMLDHData.h"
#include "Math/Xform.h"
#include "FileData/LimitsData.h"
#include "FileData/SpecificationsData.h"
#include "ObstacleAvoidance/Node.hpp"

XERCES_CPP_NAMESPACE_USE


namespace OSCAR {

class ManipulatorData : public XMLData
{
  public:
  
    ManipulatorData(const String& inputFileName, OSCARError &err = DUMMY_ERROR(noError), const String& rootElementName = String("Manipulator"), const String name = String(" "));

  ManipulatorData(const char* xmlDataString, OSCARError &err = DUMMY_ERROR(noError), const String& rootElementName = String("Manipulator"), const String name = String(" "));

  ManipulatorData(const DOMElement* manipulatorNode, OSCARError &err = DUMMY_ERROR(noError), const String& rootElementName = String("Manipulator"), const String name = String(" "));


        ManipulatorData(const ManipulatorData& rhs);

        virtual ~ManipulatorData();

        ManipulatorData& operator=(const ManipulatorData& rhs);

        const XMLDHData* GetDHParameters() const;

  void  SetDHParameters(const XMLDHData& dhParameters);

        const LimitsData* GetLimits() const;

  void  SetLimits(const LimitsData& limits);


        const Xform* GetBasePose() const;

  void  SetBasePose(const Xform& basePose);

        const Xform* GetToolPlatePose() const;

  void  SetToolPlatePose(const Xform& toolPlatePose);  

  void  SetFramesOfInterest(const std::vector<Xform>& framesOfInterest);

  const std::vector<Xform>* GetFramesOfInterest() const;


  void  SetSpecifications(const SpecificationsData& specs);

  const SpecificationsData* GetSpecifications() const;

  
  class Configuration
  {
  public:
    Configuration() : jointValue(0)
    {}

          Configuration& operator=(const Configuration& rhs)
    {
      if(this != &rhs){
        if(jointValue){
          delete jointValue;
          jointValue = 0;
        }
        if(rhs.jointValue)
          jointValue = new Vector(*rhs.jointValue);
        configName = rhs.configName;
       }
      return *this;
    }
    Configuration(const Configuration& rhs) : jointValue(0)
    {
      if(rhs.jointValue)
        jointValue = new Vector(*rhs.jointValue);
      configName = rhs.configName;
    }

    ~Configuration()
    {
      if(jointValue)
        delete jointValue;
    }
    Vector* jointValue;
    String  configName;
  };

  void  SetConfigurationsOfInterest(const std::vector<Configuration>& configurationsOfInterest, AngleUnits angUnits = Degrees);

  const std::vector<Configuration>* GetConfigurationsOfInterest() const;
  AngleUnits GetConfigurationsOfInterestAngleUnits() const;
  void  SetConfigurationsOfInterestAngleUnits(AngleUnits angUnits);

        const Node* GetObstacleModel() const;

  void  SetObstacleModel(const Node& obstacleModel);


  bool  Output(std::ostream& out, bool nameSpaceHeader = false) const;

  protected:
   Xform    basePose;
   Xform    toolPlatePose;
   XMLDHData  *dhParameters;
   LimitsData *limitsData;
   Node* obstacleModel;
   std::vector< Xform >   framesOfInterest;   
   std::vector< Configuration > configurationsOfInterest;
   AngleUnits configurationOfInterestAngleUnits;
   SpecificationsData* specs;

   virtual bool parseParameters(const DOMElement* manipulatorNode);
   void  clearConfigurationsOfInterest();

};

}
#endif  // ManipulatorData_h

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