Connection.h

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#ifndef CONNECTION_H
#define CONNECTION_H
 
#include <array>
#include <memory>
#include <string>
#include <utility>
 
#include "Transformation.h"
using namespace mathtool;
 
#include "DHParameters.h"
#include "Utilities/IOUtils.h"
#include "Geometry/Boundaries/Range.h"
 
class Body;
class MultiBody;
class XMLNode;
 
 
class Connection final {
 
  public:
 
 
    enum class JointType {
      Revolute,   
      Spherical,  
      NonActuated 
    };
 
 
    Connection(MultiBody* const _owner);
 
    Connection(MultiBody* const _owner, XMLNode& _node);
 
    Connection(const Connection&);  
    Connection(Connection&&);       
 
 
    Connection& operator=(const Connection&);  
    Connection& operator=(Connection&&);       
 
 
    void Read(istream& _is, CountingStreamBuffer& _cbs);
 
    void SetBodies(MultiBody* const _owner, const size_t _parentIndex,
        const size_t _childIndex);
 
    void SetBodies(MultiBody* const _owner = nullptr);
 
    void SetAdjacentBodies(MultiBody* const _owner, const size_t _firstIndex,
        const size_t _secondIndex);
 
 
    JointType GetConnectionType() const noexcept;
 
    bool IsRevolute() const noexcept;
 
    bool IsSpherical() const noexcept;
 
    bool IsNonActuated() const noexcept;
 
    const Range<double>& GetJointRange(const size_t _i) const noexcept;
 
    void SetJointRange(const size_t _i, const Range<double>& _r) noexcept;
 
 
    const Body* GetPreviousBody() const noexcept;
    Body* GetPreviousBody() noexcept;
 
    size_t GetPreviousBodyIndex() const noexcept;
 
    const Body* GetNextBody() const noexcept;
    Body* GetNextBody() noexcept;
 
    size_t GetNextBodyIndex() const noexcept;
 
 
    DHParameters& GetDHParameters() noexcept;
    const DHParameters& GetDHParameters() const noexcept;
 
    Transformation& GetTransformationToBody2() noexcept;
    const Transformation& GetTransformationToBody2() const noexcept;
 
    Transformation& GetTransformationToDHFrame() noexcept;
    const Transformation& GetTransformationToDHFrame() const noexcept;
 
 
  private:
 
 
    MultiBody* m_multibody{nullptr};          
    Transformation m_transformationToBody2;   
    Transformation m_transformationToDHFrame; 
    DHParameters m_dhParameters;              
 
    JointType m_jointType;                     
    std::pair<size_t, size_t> m_bodyIndices;   
    std::array<Range<double>, 2> m_jointRange; 
 
 
};
 
 
/*---------------------------------- Debug -----------------------------------*/
 
std::ostream& operator<<(std::ostream&, const Connection::JointType&);
 
std::ostream& operator<<(std::ostream& _os, const Connection& _c);
 
/*----------------------------------------------------------------------------*/
 
#endif