LinkKinematicsKit.h

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#ifndef CNOID_BODY_LINK_KINEMATICS_KIT_H
#define CNOID_BODY_LINK_KINEMATICS_KIT_H
 
#include <cnoid/EigenTypes>
#include <cnoid/ClonableReferenced>
#include <cnoid/Signal>
#include <cnoid/GeneralId>
#include <memory>
#include <string>
#include "exportdecl.h"
 
namespace cnoid {
 
class Body;
class Link;
class JointPath;
class JointSpaceConfigurationHandler;
class CoordinateFrame;
class CoordinateFrameList;
class InverseKinematics;
class Mapping;
 
class CNOID_EXPORT LinkKinematicsKit : public ClonableReferenced
{
public:
    LinkKinematicsKit(Link* link);
    ~LinkKinematicsKit();
 
    void setBaseLink(Link* baseLink);
    void setInverseKinematics(std::shared_ptr<InverseKinematics> ik);
    void setBaseFrames(CoordinateFrameList* frames);
    void setOffsetFrames(CoordinateFrameList* frames);
 
    Body* body();
    const Body* body() const;
    Link* link();
    const Link* link() const;
    Link* baseLink();
    const Link* baseLink() const;
    bool isManipulator() const;
    
    bool hasJointPath() const;
    std::shared_ptr<JointPath> jointPath();
    std::shared_ptr<InverseKinematics> inverseKinematics();
    
    std::shared_ptr<JointSpaceConfigurationHandler> configurationHandler();
    int currentConfigurationType() const;
    std::string configurationLabel(int id) const;
 
    bool isCustomIkAvaiable() const;
    bool isCustomIkDisabled() const;
    void setCustomIkDisabled(bool on);
 
    Vector3 referenceRpy() const;
    void setReferenceRpy(const Vector3& rpy);
    void resetReferenceRpy();
 
    CoordinateFrameList* baseFrames();
    CoordinateFrameList* offsetFrames();
    CoordinateFrame* baseFrame(const GeneralId& id);
    const CoordinateFrame* baseFrame(const GeneralId& id) const;
    CoordinateFrame* offsetFrame(const GeneralId& id);
    const CoordinateFrame* offsetFrame(const GeneralId& id) const;
    const GeneralId& currentBaseFrameId() const;
    const GeneralId& currentOffsetFrameId() const;
    CoordinateFrame* currentBaseFrame();
    const CoordinateFrame* currentBaseFrame() const;
    CoordinateFrame* currentOffsetFrame();
    const CoordinateFrame* currentOffsetFrame() const;
    void setCurrentBaseFrame(const GeneralId& id);
    void setCurrentOffsetFrame(const GeneralId& id);
 
    Isometry3 endPosition(
        const GeneralId& baseFrameId = GeneralId() /* Current */,
        const GeneralId& offsetFrameId = GeneralId() /* Current */) const;
 
    Isometry3 globalEndPosition(
        const GeneralId& offsetFrameId = GeneralId() /* current */) const;
    
    Isometry3 globalBasePosition(const GeneralId& baseFrameId = GeneralId() /* current */) const;
 
    bool setEndPosition(
        const Isometry3& T,
        const GeneralId& baseFrameId = GeneralId() /* Current */,
        const GeneralId& offsetFrameId = GeneralId() /* Current */,
        int configuration = 0 /* Auto */);
 
    bool setGlobalEndPosition(
        const Isometry3& T_global,
        const GeneralId& offsetFrameId = GeneralId() /* Current */,
        int configuration = 0 /* Auto */);
    
    // Any update on frames (frame lists, current frames, etc.)
    SignalProxy<void()> sigFrameUpdate();
    void notifyFrameUpdate();
 
    SignalProxy<void(const Isometry3& T_frameCoordinate)> sigPositionError();
    void notifyPositionError(const Isometry3& T_frameCoordinate);
 
    bool storeState(Mapping& archive) const;
    bool restoreState(const Mapping& archive);
 
protected:
    LinkKinematicsKit(const LinkKinematicsKit& org, CloneMap* cloneMap);
    virtual Referenced* doClone(CloneMap* cloneMap) const override;
 
private:
    class Impl;
    Impl* impl;
};
 
typedef ref_ptr<LinkKinematicsKit> LinkKinematicsKitPtr;
    
}
 
#endif