link.h

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#ifndef RB_LINK_H_
#define RB_LINK_H_

#include "../math/matrix.h"

namespace rb 
{
namespace kin 
{
enum Joint
{
  REVOLUTE,       
  PRISMATIC       
};

class Link
{
public:
  Link();                                 

  Link(
      const double a0,                    
      const double alpha0,                
      const double d0,                    
      const double theta0,                
      const double up_lim0=360.,          
      const double low_lim0=-360.,        
      const double offset0=0.,            
      const Joint type0=Joint::REVOLUTE,  

      const double mass0=0.,
      const rb::math::Matrix3 I0=rb::math::Matrix3::Identity(),
      const rb::math::Vector3 r0=rb::math::Vector3::Zero()
      );


  ~Link();                                

  friend rb::math::Matrix4 operator* (Link& lhs, Link& rhs);

  friend rb::math::Matrix4 operator* (rb::math::Matrix4& lhs, Link& rhs);

  friend rb::math::Matrix4& operator*= (rb::math::Matrix4& lhs, Link& rhs);

  rb::math::Matrix4 computeTransform(const double& q, const bool& update=false);

  double a;                   

  double alpha;               

  double d;                   

  double theta;               

  double up_lim;               

  double low_lim;              

  double offset;              

  rb::math::Matrix4 tf;       

protected:
  Joint jt_type;              

  double mass;                
  rb::math::Matrix3 I;        
  rb::math::Vector3 r;        

private:

};

}       // namespace kin
}       // namespace rb

#endif  // RB_LINK_H_