dynContact.h

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/*
 * Copyright (C) 2010-2011 RobotCub Consortium
 * Author: Andrea Del Prete
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __DINCONT_H__
#define __DINCONT_H__
 
#include <yarp/os/Portable.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include "iCub/skinDynLib/common.h"
 
namespace iCub
{
namespace skinDynLib
{
 
class dynContact : public yarp::os::Portable
{
protected:
    // static variable containing the id of the last contact created
    static unsigned long ID;
    // unique id of the contact
    unsigned long contactId;
 
    BodyPart bodyPart;
    unsigned int linkNumber;
    yarp::sig::Vector CoP;
    yarp::sig::Vector Fdir;
    yarp::sig::Vector F;
    double Fmodule;
    yarp::sig::Vector Mu;
 
    bool muKnown;
    bool fDirKnown;
 
    unsigned int verbose;
 
 
    void init(const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_Mu=yarp::sig::Vector(0), const yarp::sig::Vector &_Fdir=yarp::sig::Vector(0));
    bool checkVectorDim(const yarp::sig::Vector &v, unsigned int dim, const std::string &descr="");
 
public:
    //~~~~~~~~~~~~~~~~~~~~~~
    //   CONSTRUCTORS
    //~~~~~~~~~~~~~~~~~~~~~~
    dynContact();
    dynContact(const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP);
    dynContact(const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, const yarp::sig::Vector &_Mu);
    dynContact(const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
        const yarp::sig::Vector &_Mu, const yarp::sig::Vector &_Fdir);
 
    //~~~~~~~~~~~~~~~~~~~~~~
    //   GET methods
    //~~~~~~~~~~~~~~~~~~~~~~
    virtual yarp::sig::Vector           getForceMoment()        const;
    virtual const yarp::sig::Vector&    getForce()              const;
    virtual const yarp::sig::Vector&    getForceDirection()     const;
    virtual double                      getForceModule()        const;
    virtual const yarp::sig::Vector&    getMoment()             const;
    virtual const yarp::sig::Vector&    getCoP()                const;
    virtual unsigned int                getLinkNumber()         const;
    virtual BodyPart                    getBodyPart()           const;
    virtual std::string                 getBodyPartName()       const;
    virtual unsigned long               getId()                 const;
    
    //~~~~~~~~~~~~~~~~~~~~~~
    //   IS methods
    //~~~~~~~~~~~~~~~~~~~~~~
    virtual bool isMomentKnown()                const;
    virtual bool isForceDirectionKnown()        const;
   
    //~~~~~~~~~~~~~~~~~~~~~~
    //   SET methods
    //~~~~~~~~~~~~~~~~~~~~~~    
    virtual bool setForce(const yarp::sig::Vector &_F);
    virtual bool setForceModule(double _Fmodule);
    virtual bool setForceDirection(const yarp::sig::Vector &_Fdir);
    virtual bool setMoment(const yarp::sig::Vector &_Mu);
    virtual bool setForceMoment(const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu);
    virtual bool setForceMoment(const yarp::sig::Vector &_FMu);
    virtual bool setCoP(const yarp::sig::Vector &_CoP);
    virtual void setLinkNumber(unsigned int _linkNum);
    virtual void setBodyPart(BodyPart _bodyPart);
 
    //~~~~~~~~~~~~~~~~~~~~~~
    //   FIX/UNFIX methods
    //~~~~~~~~~~~~~~~~~~~~~~ 
    virtual bool fixForceDirection(const yarp::sig::Vector &_Fdir);
    virtual bool fixMoment();
    virtual bool fixMoment(const yarp::sig::Vector &_Mu);
    virtual void unfixForceDirection();
    virtual void unfixMoment();
 
    //~~~~~~~~~~~~~~~~~~~~~~
    //   SERIALIZATION methods
    //~~~~~~~~~~~~~~~~~~~~~~ 
    /*
    * Read dynContact from a connection. It expects a list of 4 elements, that are:
    * - a list of 3 int, containing contactId, bodyPart and linkNumber
    * - a list of 3 double, containing the CoP
    * - a list of 3 double, containing the force
    * - a list of 3 double, containing the moment
    * @param connection the connection to read from
    * @return true iff a dynContact was read correctly
    */
    virtual bool read(yarp::os::ConnectionReader& connection) override;
    virtual bool write(yarp::os::ConnectionWriter& connection) const override;
 
    
    virtual std::string toString(int precision=-1) const;
    virtual void setVerbose(unsigned int verb = VERBOSE);
};
 
}
 
}
#endif