SmoresNode.hh

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Author: Edward Yunkai Cui
// Description: This class is built for configuration representation.
//              An node in smores robot is a connectable face, and a 
//              minimal unit in graph structure representation.
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef _GAZEBO_SMORES_NODE_HH_
#define _GAZEBO_SMORES_NODE_HH_
#include "SmoresEdge.hh"

namespace gazebo{
class SmoresModule;
typedef boost::shared_ptr<SmoresEdge> SmoresEdgePtr;
typedef boost::shared_ptr<SmoresModule> SmoresModulePtr;
class SmoresNode
{
 public:
  SmoresNode();

  SmoresNode(int nodeID, int jtype, int jvalue, SmoresModulePtr parent,
      SmoresEdgePtr edge);

  SmoresNode(int nodeID, int jtype, int jvalue, SmoresModulePtr parent);

  SmoresNode(int nodeID, int jtype, int jvalue);
  ~SmoresNode();

  void NodeInit(int nodeID, int jtype, int jvalue, SmoresModulePtr parent,
      SmoresEdgePtr edge);

  void NodeInit(int nodeID, int jtype, int jvalue, SmoresModulePtr parent);

  void SetParent(SmoresModulePtr mparent);

  int GetAxis(void);

  void ConnectOnEdge(SmoresEdgePtr edge);
  void Disconnect(void);

  SmoresEdgePtr GetEdge(void);
  int NodeID;
  int JointType;
  int JointValue;
  math::Vector3 RelativePosition;
  SmoresModulePtr Parent;
  SmoresEdgePtr Edge;
};
}
#endif