152 lines
3.5 KiB
C++
152 lines
3.5 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: John Hsu */
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#ifndef URDF_MODEL_STATE_H
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#define URDF_MODEL_STATE_H
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#include <string>
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#include <vector>
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#include <map>
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#include "urdf_model/pose.h"
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#include <urdf_model/twist.h>
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#include "urdf_model_state/types.h"
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namespace urdf{
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//round is not defined in C++98
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//So in Visual Studio <= 2012 is necessary to define it
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#ifdef _MSC_VER
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#if (_MSC_VER <= 1700)
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double round(double value)
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{
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return (value >= 0.0f)?(floor(value + 0.5f)):(ceil(value - 0.5f));
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}
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#endif
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#endif
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class Time
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{
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public:
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Time() { this->clear(); };
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void set(double _seconds)
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{
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this->sec = (int32_t)(floor(_seconds));
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this->nsec = (int32_t)(round((_seconds - this->sec) * 1e9));
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this->Correct();
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};
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operator double ()
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{
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return (static_cast<double>(this->sec) +
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static_cast<double>(this->nsec)*1e-9);
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};
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int32_t sec;
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int32_t nsec;
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void clear()
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{
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this->sec = 0;
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this->nsec = 0;
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};
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private:
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void Correct()
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{
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// Make any corrections
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if (this->nsec >= 1e9)
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{
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this->sec++;
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this->nsec = (int32_t)(this->nsec - 1e9);
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}
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else if (this->nsec < 0)
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{
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this->sec--;
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this->nsec = (int32_t)(this->nsec + 1e9);
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}
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};
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};
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class JointState
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{
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public:
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JointState() { this->clear(); };
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/// joint name
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std::string joint;
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std::vector<double> position;
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std::vector<double> velocity;
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std::vector<double> effort;
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void clear()
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{
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this->joint.clear();
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this->position.clear();
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this->velocity.clear();
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this->effort.clear();
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}
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};
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class ModelState
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{
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public:
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ModelState() { this->clear(); };
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/// state name must be unique
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std::string name;
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Time time_stamp;
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void clear()
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{
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this->name.clear();
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this->time_stamp.set(0);
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this->joint_states.clear();
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};
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std::vector<JointStateSharedPtr> joint_states;
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};
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}
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#endif
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