Device.h

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/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <memory>
#include <string>
 
namespace mc_rbdyn
{
 
struct Robot;
 
struct Device;
using DevicePtr = std::unique_ptr<Device>;
using Sensor = Device;
using SensorPtr = DevicePtr;
 
struct MC_RBDYN_DLLAPI Device
{
  Device(const std::string & name);
 
  Device(const std::string & name, const std::string & parent, const sva::PTransformd & X_p_s);
 
  Device(const Device &) = delete;
  Device & operator=(const Device &) = delete;
 
  Device(Device &&) = default;
  Device & operator=(Device &&) = default;
 
  virtual ~Device() noexcept = default;
 
  inline const std::string & name() const { return name_; }
 
  inline const std::string & type() const { return type_; }
 
  inline const std::string & parent() const { return parent_; }
 
  inline void parent(const std::string & p) { parent_ = p; }
 
  inline const sva::PTransformd & X_p_d() const { return X_p_s_; }
 
  inline const sva::PTransformd & X_p_s() const { return X_p_s_; }
 
  inline void X_p_d(const sva::PTransformd & pt) { X_p_s_ = pt; }
 
  inline void X_p_s(const sva::PTransformd & pt) { X_p_s_ = pt; }
 
  inline sva::PTransformd X_0_d(const mc_rbdyn::Robot & robot) const { return X_0_s(robot); }
 
  sva::PTransformd X_0_s(const mc_rbdyn::Robot & robot) const;
 
  virtual DevicePtr clone() const = 0;
 
protected:
  std::string type_;
  std::string name_;
  std::string parent_;
  sva::PTransformd X_p_s_;
};
 
} // namespace mc_rbdyn