<reponame>OrangeSodahub/RMMDet<filename>src/roslibjs/src/urdf/UrdfJoint.js<gh_stars>0/**
 * @fileOverview
 * @author David V. Lu!!  envkt@example.com
 */

var Pose = require('../math/Pose');
var Vector3 = require('../math/Vector3');
var Quaternion = require('../math/Quaternion');

/**
 * A Joint element in a URDF.
 *
 * @constructor
 * @param options - object with following keys:
 *  * xml - the XML element to parse
 */
function UrdfJoint(options) {
  this.name = options.xml.getAttribute('name');
  this.type = options.xml.getAttribute('type');

  var parents = options.xml.getElementsByTagName('parent');
  if(parents.length > 0) {
    this.parent = parents[0].getAttribute('link');
  }

  var children = options.xml.getElementsByTagName('child');
  if(children.length > 0) {
    this.child = children[0].getAttribute('link');
  }

  var limits = options.xml.getElementsByTagName('limit');
  if (limits.length > 0) {
    this.minval = parseFloat( limits[0].getAttribute('lower') );
    this.maxval = parseFloat( limits[0].getAttribute('upper') );
  }

  // Origin
  var origins = options.xml.getElementsByTagName('origin');
  if (origins.length === 0) {
    // use the identity as the default
    this.origin = new Pose();
  } else {
    // Check the XYZ
    var xyz = origins[0].getAttribute('xyz');
    var position = new Vector3();
    if (xyz) {
      xyz = xyz.split(' ');
      position = new Vector3({
        x : parseFloat(xyz[0]),
        y : parseFloat(xyz[1]),
        z : parseFloat(xyz[2])
      });
    }

    // Check the RPY
    var rpy = origins[0].getAttribute('rpy');
    var orientation = new Quaternion();
    if (rpy) {
      rpy = rpy.split(' ');
      // Convert from RPY
      var roll = parseFloat(rpy[0]);
      var pitch = parseFloat(rpy[1]);
      var yaw = parseFloat(rpy[2]);
      var phi = roll / 2.0;
      var the = pitch / 2.0;
      var psi = yaw / 2.0;
      var x = Math.sin(phi) * Math.cos(the) * Math.cos(psi) - Math.cos(phi) * Math.sin(the)
          * Math.sin(psi);
      var y = Math.cos(phi) * Math.sin(the) * Math.cos(psi) + Math.sin(phi) * Math.cos(the)
          * Math.sin(psi);
      var z = Math.cos(phi) * Math.cos(the) * Math.sin(psi) - Math.sin(phi) * Math.sin(the)
          * Math.cos(psi);
      var w = Math.cos(phi) * Math.cos(the) * Math.cos(psi) + Math.sin(phi) * Math.sin(the)
          * Math.sin(psi);

      orientation = new Quaternion({
        x : x,
        y : y,
        z : z,
        w : w
      });
      orientation.normalize();
    }
    this.origin = new Pose({
      position : position,
      orientation : orientation
    });
  }
}

module.exports = UrdfJoint;
