joints.h

/****************************************************************************
**
** Copyright (c) 2015-2026 RoboDK Global.
** Contact: https://robodk.com/
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** This file is part of the RoboDK API.
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#ifndef ROBODK_JOINTS_H
#define ROBODK_JOINTS_H
 
 
#ifdef QT_GUI_LIB
#include <QString>
#else
#error "This class cannot yet be used without the Qt Framework"
#endif
 
 
namespace robodk
{
 
namespace legacy
{
struct Matrix2D;
}
 
class Joints
{
public:
    Joints();
 
    explicit Joints(int ndofs);
 
    Joints(const double* joints, int ndofs = 0);
 
    Joints(const float* joints, int ndofs = 0);
 
    Joints(const Joints& joints) = default;
 
    Joints& operator=(const Joints& joints) = default;
 
    Joints(const legacy::Matrix2D* mat2d, int column = 0, int ndofs = -1);
 
    Joints(const QString& str);
 
    ~Joints() = default;
 
    const double* ValuesD() const;
 
    const float* ValuesF() const;
 
#ifdef ROBODK_API_FLOATS
    const float* Values() const;
#else
    const double* Values() const;
#endif
 
 
    double Compare(const Joints &other) const;
 
    double *Data();
 
    int Length() const;
 
    void setLength(int new_length);
 
    bool Valid();
 
    int GetValues(double *joints);
 
    void SetValues(const double *joints, int ndofs = -1);
 
    void SetValues(const float *joints, int ndofs = -1);
 
#ifdef QT_GUI_LIB
    inline operator QString() const { return ToString(); }
 
    QString ToString(
        const QString& separator = QLatin1String(", "),
        int precision = 3) const;
 
    bool FromString(const QString& str);
#endif
 
public:
    static constexpr int MaximumJoints = 12;
 
    int _dofCount;
 
    double _joints[MaximumJoints];
 
    mutable float _jointsFloat[MaximumJoints];
};
 
 
} // namespace robodk
 
 
#endif // ROBODK_JOINTS_H