alrobotmodel.h

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#ifndef ALROBOTMODEL_H
#define ALROBOTMODEL_H

#include <almath/types/altransform.h>
#include <almath/types/alposition3d.h>
#include <string>

#include <qi/macro.hpp>

#ifdef alrobotmodel_EXPORTS
# define ALROBOTMODEL_API QI_EXPORT_API
#elif defined(alrobotmodel_IMPORTS)
# define ALROBOTMODEL_API QI_IMPORT_API
#else
# define ALROBOTMODEL_API
#endif

namespace Sim
{

  class Actuator;
  class ActuatorGroup;
  class AngleActuator;
  class AngleSensor;
  class AngleSpeedActuator;
  class AngleSpeedSensor;
  class ArrayDepthSensor;
  class BumperSensor;
  class CameraSensor;
  class CameraDepthSensor;
  class CoupledActuator;
  class CoupledSensor;
  class FSRSensor;
  class InertialSensor;
  class SonarSensor;
  class TactileSensor;
  class LEDActuator;
  class MicrophoneSensor;
  class Joint;
  class JointGroup;
  class JointSymmetry;
  class Link;
  class Sensor;
  class SingleDepthSensor;
  class TorqueActuator;
  class TorqueSensor;
  class WheelTorqueActuator;
  class WheelVelocityActuator;
  class WheelVelocitySensor;

  typedef SingleDepthSensor DepthInfraredSensor;

class ALROBOTMODEL_API Model
{
  public:

    Model(const std::string& pathToModel);
    ~Model();

    const std::string& name() const;

    std::string prettyName(int verbosity = 0) const;

    const std::string& configFile() const;

    std::vector<const Joint*> joints() const;
    const Joint* joint(const std::string& jointName) const;

    std::vector<const JointSymmetry*> jointSymmetries() const;
    const JointSymmetry* jointSymmetry(const std::string& jointName) const;

    std::vector<const JointGroup*> jointGroups() const;
    const JointGroup* jointGroup(const std::string& jointGroupName) const;
    std::vector<const JointGroup*>
      jointGroupsOfJoint(const std::string& jointName) const;

    std::vector<const Link*> links() const;
    const Link* link(const std::string& linkName) const;
    const Link* rootLink() const;

    std::vector<const Actuator*> actuators() const;
    const Actuator* actuator(const std::string& actuatorName) const;

    std::vector<const ActuatorGroup*> actuatorGroups() const;
    const ActuatorGroup* actuatorGroup(
      const std::string& actuatorGroupName) const;
    std::vector<const ActuatorGroup*>
      actuatorGroupsOfJoint(const std::string& jointName) const;

    std::vector<const AngleActuator*> angleActuators() const;
    const AngleActuator* angleActuator(const std::string& actuatorName) const;

    std::vector<const CoupledActuator*> coupledActuators() const;
    const CoupledActuator* coupledActuator(
      const std::string& actuatorName) const;

    std::vector<const TorqueActuator*> torqueActuators() const;
    const TorqueActuator* torqueActuator(
      const std::string& actuatorName) const;

    std::vector<const AngleSpeedActuator*> angleSpeedActuators() const;
    const AngleSpeedActuator* angleSpeedActuator(
      const std::string& actuatorName) const;

    std::vector<const WheelTorqueActuator*> wheelTorqueActuators() const;
    const WheelTorqueActuator* wheelTorqueActuator(
      const std::string& actuatorName) const;

    std::vector<const WheelVelocityActuator*> wheelVelocityActuators() const;
    const WheelVelocityActuator* wheelVelocityActuator(
      const std::string& actuatorName) const;

    std::vector<const LEDActuator*> ledActuators(
      const std::string& groupName = std::string()) const;
    const LEDActuator* ledActuator(const std::string& actuatorName) const;

    std::vector<const Sensor*> sensors() const;
    const Sensor* sensor(const std::string& sensorName) const;

    std::vector<const AngleSensor*> angleSensors() const;
    const AngleSensor* angleSensor(const std::string& sensorName) const;

    std::vector<const CoupledSensor*> coupledSensors() const;
    const CoupledSensor* coupledSensor(const std::string& sensorName) const;

    std::vector<const TorqueSensor*> torqueSensors() const;
    const TorqueSensor* torqueSensor(const std::string& sensorName) const;

    std::vector<const AngleSpeedSensor*> angleSpeedSensors() const;
    const AngleSpeedSensor* angleSpeedSensor(
      const std::string& sensorName) const;

    std::vector<const WheelVelocitySensor*> wheelVelocitySensors() const;
    const WheelVelocitySensor* wheelVelocitySensor(
      const std::string& sensorName) const;

    std::vector<const CameraSensor*> cameraSensors() const;
    const CameraSensor* cameraSensor(const std::string& sensorName) const;

    std::vector<const CameraDepthSensor*> cameraDepthSensors() const;
    const CameraDepthSensor* cameraDepthSensor(
      const std::string& sensorName) const;

    std::vector<const FSRSensor*> fsrSensors() const;
    const FSRSensor* fsrSensor(const std::string& sensorName) const;

    std::vector<const InertialSensor*> inertialSensors() const;
    const InertialSensor* inertialSensor(const std::string& sensorName) const;

    std::vector<const SonarSensor*> sonarSensors() const;
    const SonarSensor* sonarSensor(const std::string& sensorName) const;

    std::vector<const BumperSensor*> bumperSensors() const;
    const BumperSensor* bumperSensor(const std::string& sensorName) const;

    std::vector<const TactileSensor*> tactileSensors() const;
    const TactileSensor* tactileSensor(const std::string& sensorName) const;

    std::vector<const SingleDepthSensor*> singleDepthSensors() const;
    const SingleDepthSensor* singleDepthSensor(
      const std::string& sensorName) const;

    std::vector<const ArrayDepthSensor*> arrayDepthSensors() const;
    const ArrayDepthSensor* arrayDepthSensor(
      const std::string& sensorName) const;

    std::vector<const DepthInfraredSensor*> depthInfraredSensors() const;
    const DepthInfraredSensor* depthInfraredSensor(
      const std::string& sensorName) const;

    std::vector<const MicrophoneSensor*> microphoneSensors() const;
    const MicrophoneSensor* microphoneSensor(
      const std::string& sensorName) const;

    class ModelImpl* a_impl;
};

class ALROBOTMODEL_API JointSymmetry
{

  public:

    JointSymmetry();

    ~JointSymmetry();

    enum SymmetryType
    {
      MIRROR_SYM,
      MIRROR_ANTISYM,
    };

    std::pair<const Joint*, const Joint*> symmetricJoints() const;

    const Joint* symmetricJoint(const Joint* joint) const;

    SymmetryType symmetryType() const;

    class JointSymmetryImpl* a_impl;

};

class ALROBOTMODEL_API JointGroup
{

  public:

    JointGroup();

    ~JointGroup();

    const std::string& name() const;

    std::vector<const Joint*> joints() const;

    class JointGroupImpl* a_impl;
};

class ALROBOTMODEL_API Frame
{
  public:
    Frame();
    ~Frame();
    const std::string& name() const;
    const AL::Math::Transform& position() const;
    const Frame* parentFrame() const;
    const AL::Math::Transform& localPosition() const;
    static AL::Math::Transform globalPosition(
      const Frame* frame);
    class FrameImpl* a_impl;
};

class ALROBOTMODEL_API Joint
{
  public:
    Joint();
    ~Joint();
    const Frame* frame() const;
    const std::string& name() const;
    const Link* parentLink() const;
    const Link* childLink() const;
    class JointImpl* a_impl;
};

ALROBOTMODEL_API bool frictionCoeff(
  const std::string& frictionMaterial1,
  const std::string& frictionMaterial2,
  float& frictionCoeff);

class ALROBOTMODEL_API MassData
{
  public:
    MassData();
    virtual ~MassData();
    float mass() const;
    const AL::Math::Position3D& CoM() const;
    const std::vector<float>& inertiaMatrix() const;
    class MassDataImpl* a_impl;
};

class ALROBOTMODEL_API VisualData
{
  public:
    VisualData();
    virtual ~VisualData();
    const std::string& meshPath() const;
    const AL::Math::Transform& meshTransform() const;
    class VisualDataImpl* a_impl;
};

class ALROBOTMODEL_API Link
{
  public:
    enum LinkType
    {
      CLASSIC,
      WHEEL_OMNI,
    };
    Link();
    virtual ~Link();
    const Frame* frame() const;
    const std::string& name() const;
    const Joint* parentJoint() const;
    const std::vector<const Joint*> childrenJoints() const;
    const MassData* mass() const;
    const std::string& frictionMaterial() const;
    const VisualData* visual() const;
    LinkType type() const;
    class LinkImpl* a_impl;
};

class ALROBOTMODEL_API Actuator
{
  public:
    enum Type
    {
      ANGLE_MOTOR,
      COUPLED_MOTOR,
      TORQUE_MOTOR,
      ANGLE_SPEED_MOTOR,
      WHEEL_TORQUE,
      WHEEL_VELOCITY,
      LED,

    };
    Actuator(class ActuatorImpl* impl);
    Actuator(const Actuator& other);
    ~Actuator();
    const Frame* frame() const;
    const virtual std::string& name() const;
    Type type() const;
    virtual int bufferSize() const = 0;
    ActuatorImpl* a_impl;
};

class ALROBOTMODEL_API ActuatorGroup
{

  public:

    ActuatorGroup();

    ~ActuatorGroup();

    const std::string& name() const;

    const ActuatorGroup * parent() const;

    std::vector<const Actuator*> actuators() const;

    class ActuatorGroupImpl* a_impl;

};

class ALROBOTMODEL_API DCMActuator: public Actuator
{
  public:
    DCMActuator(class DCMActuatorImpl* impl);
    DCMActuator(const DCMActuator& other);
    ~DCMActuator();
    const std::vector<std::string>& dcmKeys() const;
    virtual int bufferSize() const = 0;
};

class ALROBOTMODEL_API AngleActuator: public DCMActuator
{
  public:
    AngleActuator(class AngleActuatorImpl* impl);
    AngleActuator(const AngleActuator& other);
    ~AngleActuator();
    const AngleActuator* reflectedSymmetric() const;
    bool reflectedSymmetricReversed() const;
    bool reflectionForced() const;
    virtual int bufferSize() const;
    float startValue() const;
    float minValue() const;
    float maxValue() const;
    float maxSpeed() const;
    const Joint* controlledJoint() const;
};

class ALROBOTMODEL_API CoupledActuator: public DCMActuator
{
  public:
    CoupledActuator(class CoupledActuatorImpl* impl);
    CoupledActuator(const CoupledActuator& other);
    ~CoupledActuator();
    const CoupledActuator* reflectedSymmetric() const;
    bool reflectedSymmetricReversed() const;
    bool reflectionForced() const;
    virtual int bufferSize() const;
    float startValue() const;
    float minValue() const;
    float maxValue() const;
    float maxSpeed() const;
    std::vector<std::pair<const Joint*, float> >
      controlledJointAndRatios() const;
};

class ALROBOTMODEL_API TorqueActuator: public DCMActuator
{
  public:
    TorqueActuator(class TorqueActuatorImpl* impl);
    TorqueActuator(const TorqueActuator& other);
    ~TorqueActuator();
    const TorqueActuator* reflectedSymmetric() const;
    bool reflectedSymmetricReversed() const;
    virtual int bufferSize() const;
    float startValue() const;
    float minValue() const;
    float maxValue() const;
    const Joint* controlledJoint() const;
};

class ALROBOTMODEL_API AngleSpeedActuator: public DCMActuator
{
  public:
    AngleSpeedActuator(class AngleSpeedActuatorImpl* impl);
    AngleSpeedActuator(const AngleSpeedActuator& other);
    ~AngleSpeedActuator();
    const AngleSpeedActuator* reflectedSymmetric() const;
    bool reflectedSymmetricReversed() const;
    virtual int bufferSize() const;
    float startValue() const;
    float minValue() const;
    float maxValue() const;
    const Joint* controlledJoint() const;
};

class ALROBOTMODEL_API WheelTorqueActuator: public DCMActuator
{
  public:
    WheelTorqueActuator(class WheelTorqueActuatorImpl* impl);
    WheelTorqueActuator(const WheelTorqueActuator& other);
    ~WheelTorqueActuator();
    virtual int bufferSize() const;
    // Newton per meter).
    float maxTorque() const;
    const Joint* controlledJoint() const;
};

class ALROBOTMODEL_API WheelVelocityActuator: public DCMActuator
{
  public:
    WheelVelocityActuator(class WheelVelocityActuatorImpl* impl);
    WheelVelocityActuator(const WheelVelocityActuator& other);
    ~WheelVelocityActuator();
    virtual int bufferSize() const;
    float maxVelocity() const;
    const Joint* controlledJoint() const;
};

class ALROBOTMODEL_API LEDActuator: public DCMActuator
{
  public:
    enum Color
    {
      RED,
      GREEN,
      BLUE
    };

  public:
    LEDActuator(class LEDActuatorImpl* impl);
    LEDActuator(const LEDActuator& other);
    ~LEDActuator();
    virtual int bufferSize() const;
    const std::string& shortname() const;
    const std::vector<std::string>& groups() const;
    Color color() const;
};

class ALROBOTMODEL_API Sensor
{
  public:
    enum Type
    {
      ANGLE,
      COUPLED,
      SONAR,
      CAMERA,
      FSR,
      INERTIAL,
      BUMPER,
      TORQUE,
      ANGLE_SPEED,
      WHEEL_VELOCITY,
      TACTILE,
      DEPTH_INFRARED, // deprecated
      SINGLE_DEPTH,
      ARRAY_DEPTH,
      CAMERA_DEPTH,
      MICROPHONE,
    };
    Sensor();
    ~Sensor();
    const Frame* frame() const;
    virtual const std::string& name() const;
    Type type() const;
    virtual int bufferSize() const = 0;
    class SensorImpl* a_impl;
};

class ALROBOTMODEL_API DCMSensor: public Sensor
{
  public:
    DCMSensor();
    ~DCMSensor();
    const std::vector<std::string>& dcmKeys() const;
    std::vector<std::string> fullDcmKeys() const;
    const std::vector<std::string>& dcmStateKeys() const;
    const std::vector<std::string>& dcmCommandKeys() const;
    virtual int bufferSize() const = 0;
};


class ALROBOTMODEL_API AngleSensor: public DCMSensor
{
  public:
    AngleSensor();
    ~AngleSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API CoupledSensor: public DCMSensor
{
  public:
    CoupledSensor();
    ~CoupledSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API TorqueSensor: public DCMSensor
{
  public:
    TorqueSensor();
    ~TorqueSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API AngleSpeedSensor: public DCMSensor
{
  public:
    AngleSpeedSensor();
    ~AngleSpeedSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API WheelVelocitySensor: public DCMSensor
{
  public:
    WheelVelocitySensor();
    ~WheelVelocitySensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API BaseCamera: public Sensor
{
  public:
    BaseCamera();
    ~BaseCamera();
    virtual int bufferSize() const = 0;
};

class ALROBOTMODEL_API CameraSensor: public BaseCamera
{
  public:
    CameraSensor();
    ~CameraSensor();
    virtual int bufferSize() const;
    int width() const;
    int height() const;
};

class ALROBOTMODEL_API CameraDepthSensor: public BaseCamera
{
  public:
    CameraDepthSensor();
    ~CameraDepthSensor();
    virtual int bufferSize() const;
    int width() const;
    int height() const;
};

class ALROBOTMODEL_API FSRSensor: public DCMSensor
{
  public:
    FSRSensor();
    ~FSRSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API InertialSensor: public DCMSensor
{
  public:
    InertialSensor();
    ~InertialSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API SonarSensor: public DCMSensor
{
  public:
    SonarSensor();
    ~SonarSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API BumperSensor: public DCMSensor
{
  public:
    BumperSensor();
    ~BumperSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API TactileSensor: public DCMSensor
{
  public:
    TactileSensor();
    ~TactileSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API SingleDepthSensor: public DCMSensor
{
  public:
    SingleDepthSensor();
    ~SingleDepthSensor();
    virtual int bufferSize() const;
};

class ALROBOTMODEL_API ArrayDepthSensor: public DCMSensor
{
  public:
    ArrayDepthSensor();
    ~ArrayDepthSensor();
    virtual int bufferSize() const;
    int width() const;
    int height() const;
};

class ALROBOTMODEL_API MicrophoneSensor: public Sensor
{
  public:
    MicrophoneSensor();
    ~MicrophoneSensor();
    virtual int bufferSize() const;
};

}

#endif // ALROBOTMODEL_H