JointAngles.h

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/* ============================================================
 *
 * This file is a part of RCI project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>
#include <sstream>
#include <math.h>
#include <boost/shared_ptr.hpp>

#include <nemo/Mapping.h>

#include <rsc/math/MathUtils.h>

#include "rci/dto/JointValues.h"

namespace rci {

class JointAngles;
typedef boost::shared_ptr<JointAngles> JointAnglesPtr;

class JointAngles: public JointValues {

public:
    JointAngles();
    JointAngles(double value);
    JointAngles(const nemo::RealVector& values);
    JointAngles(const JointAngles&);

    JointAnglesPtr operator[](unsigned int index) {
        return JointAnglesPtr(new JointAngles(this->rad(index)));
    }

    virtual double asDouble(unsigned int index, bool norm = false) const;

    virtual double rad(unsigned int index = 0, bool norm = false) const;

    virtual nemo::RealVector radVector(bool norm = false) const;

    virtual double deg(unsigned int index = 0, bool norm = false) const;

    virtual nemo::RealVector degVector(bool norm = false) const;

    virtual nemo::RealVector asDoubleVector(bool norm = false) const;

    virtual void setFromRad(unsigned int index, double value);
    virtual void setFromRad(const nemo::RealVector& values);

    virtual void setFromDeg(unsigned int index, double value);
    virtual void setFromDeg(const nemo::RealVector& values);

    static JointAnglesPtr create(unsigned int dimension, double value = 0.0);

    static JointAnglesPtr copy(const JointAngles&);

    static JointAnglesPtr fromRad(const nemo::RealVector& values);
    static JointAnglesPtr fromRad(double value);

    static JointAnglesPtr fromDeg(const nemo::RealVector& values);
    static JointAnglesPtr fromDeg(double value);

    void normalize();

    static JointAnglesPtr fromValue(double value);

    virtual std::string print() const;
};

}