fsb_joint.h

 
#ifndef FSB_JOINT_H
#define FSB_JOINT_H
 
#include <array>
#include <cstddef>
#include <cstdint>
#include "fsb_configuration.h"
#include "fsb_types.h"
#include "fsb_motion.h"
 
namespace fsb
{
 
enum class JointType : uint8_t
{
    FIXED = 0,
    REVOLUTE_X = 1,
    REVOLUTE_Y = 2,
    REVOLUTE_Z = 3,
    PRISMATIC_X = 4,
    PRISMATIC_Y = 5,
    PRISMATIC_Z = 6,
    SPHERICAL = 7,
    CARTESIAN = 8,
    PLANAR = 9
};
 
using JointSpacePosition = Array<MaxSize::kCoordinates>;
 
using JointSpace = Array<MaxSize::kDofs>;
 
struct JointPva
{
    JointSpacePosition position = {};
    JointSpace velocity = {};
    JointSpace acceleration = {};
};
 
struct Joint
{
    JointType type = JointType::FIXED;
    bool reversed = false;
    Transform parent_joint_transform = transform_identity();
    Transform nominal_parent_joint_transform = transform_identity();
    size_t parent_body_index = 0;
    size_t child_body_index = 0;
    size_t coord_index = 0;
    size_t dof_index = 0;
};
 
Transform joint_parent_child_transform(const Joint& joint, const JointSpacePosition& position);
 
MotionVector joint_parent_child_velocity(const Joint& joint, const JointSpace& velocity);
 
MotionVector joint_parent_child_acceleration(const Joint& joint, const JointPva& joint_pva);
 
CartesianPva joint_parent_child_pva(const Joint& joint, const JointPva& joint_pva);
 
} // namespace fsb
 
#endif // FSB_JOINT_H