ForceTorque.hh

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/*
 * Copyright 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_FORCE_TORQUE_HH_
#define SDF_FORCE_TORQUE_HH_
 
#include <string>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  // Forward declare private data class.
  class ForceTorquePrivate;
 
  enum class ForceTorqueFrame : uint8_t
  {
    INVALID = 0,
 
    PARENT = 1,
 
    CHILD = 2,
 
    SENSOR = 3
  };
 
  enum class ForceTorqueMeasureDirection : uint8_t
  {
    INVALID = 0,
 
    PARENT_TO_CHILD = 1,
 
    CHILD_TO_PARENT = 2
  };
 
  class SDFORMAT_VISIBLE ForceTorque
  {
    public: ForceTorque();
 
    public: ForceTorque(const ForceTorque &_ft);
 
    public: ForceTorque(ForceTorque &&_ft) noexcept;
 
    public: ~ForceTorque();
 
    public: ForceTorque &operator=(const ForceTorque &_ft);
 
    public: ForceTorque &operator=(ForceTorque &&_ft) noexcept;
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: const Noise &ForceXNoise() const;
 
    public: void SetForceXNoise(const Noise &_noise);
 
    public: const Noise &ForceYNoise() const;
 
    public: void SetForceYNoise(const Noise &_noise);
 
    public: const Noise &ForceZNoise() const;
 
    public: void SetForceZNoise(const Noise &_noise);
 
    public: const Noise &TorqueXNoise() const;
 
    public: void SetTorqueXNoise(const Noise &_noise);
 
    public: const Noise &TorqueYNoise() const;
 
    public: void SetTorqueYNoise(const Noise &_noise);
 
    public: const Noise &TorqueZNoise() const;
 
    public: void SetTorqueZNoise(const Noise &_noise);
 
    public: ForceTorqueFrame Frame() const;
 
    public: void SetFrame(ForceTorqueFrame _frame) const;
 
    public: ForceTorqueMeasureDirection MeasureDirection() const;
 
    public: void SetMeasureDirection(
        ForceTorqueMeasureDirection _direction) const;
 
    public: bool operator==(const ForceTorque &_ft) const;
 
    public: bool operator!=(const ForceTorque &_ft) const;
 
    private: ForceTorquePrivate *dataPtr;
  };
  }
}
 
#endif