referenceframe

type DHParamConfig struct {
	ID       string                  `json:"id"`
	Parent   string                  `json:"parent"`
	A        float64                 `json:"a"`
	D        float64                 `json:"d"`
	Alpha    float64                 `json:"alpha"`
	Max      float64                 `json:"max"` // in mm or degs
	Min      float64                 `json:"min"` // in mm or degs
	Geometry *spatial.GeometryConfig `json:"geometry,omitempty"`
}

type Frame interface {
	Limited
	// Name returns the name of the referenceframe.
	Name() string

	// Transform is the pose (rotation and translation) that goes FROM current frame TO parent's referenceframe.
	Transform([]Input) (spatial.Pose, error)

	// Interpolate interpolates the given amount between the two sets of inputs.
	Interpolate([]Input, []Input, float64) ([]Input, error)

	// Geometries returns a map between names and geometries for the reference frame and any intermediate frames that
	// may be defined for it, e.g. links in an arm. If a frame does not have a geometry it will not be added into the map
	Geometries([]Input) (*GeometriesInFrame, error)

	// InputFromProtobuf does there correct thing for this frame to convert protobuf units (degrees/mm) to input units (radians/mm)
	InputFromProtobuf(*pb.JointPositions) []Input

	// ProtobufFromInput does there correct thing for this frame to convert input units (radians/mm) to protobuf units (degrees/mm)
	ProtobufFromInput([]Input) *pb.JointPositions

	json.Marshaler
}

type FrameSystem interface {
	// Name returns the name of this FrameSystem
	Name() string

	// World returns the frame corresponding to the root of the FrameSystem, from which other frames are defined with respect to
	World() Frame

	// FrameNames returns the names of all of the frames that exist in the FrameSystem
	FrameNames() []string

	// Frame returns the Frame in the FrameSystem corresponding to
	Frame(name string) Frame

	// AddFrame inserts a given Frame into the FrameSystem as a child of the parent Frame
	AddFrame(frame, parent Frame) error

	// RemoveFrame removes the given Frame from the FrameSystem
	RemoveFrame(frame Frame)

	// TracebackFrame traces the parentage of the given frame up to the world, and returns the full list of frames in between.
	// The list will include both the query frame and the world referenceframe
	TracebackFrame(frame Frame) ([]Frame, error)

	// Parent returns the parent Frame for the given Frame in the FrameSystem
	Parent(frame Frame) (Frame, error)

	// Transform takes in a Transformable object and destination frame, and returns the pose from the first to the second. Positions
	// is a map of inputs for any frames with non-zero DOF, with slices of inputs keyed to the frame name.
	Transform(positions map[string][]Input, object Transformable, dst string) (Transformable, error)

	// FrameSystemSubset will take a frame system and a frame in that system, and return a new frame system rooted
	// at the given frame and containing all descendents of it. The original frame system is unchanged.
	FrameSystemSubset(newRoot Frame) (FrameSystem, error)

	// DivideFrameSystem will take a frame system and a frame in that system, and return a new frame system rooted
	// at the given frame and containing all descendents of it, while the original has the frame and its
	// descendents removed.
	DivideFrameSystem(newRoot Frame) (FrameSystem, error)

	// MergeFrameSystem combines two frame systems together, placing the world of systemToMerge at the attachTo frame in the frame system
	MergeFrameSystem(systemToMerge FrameSystem, attachTo Frame) error

	// ReplaceFrame finds the original frame which shares its name with replacementFrame. We then transfer the original
	// frame's children and parentage to replacementFrame. The original frame is removed entirely from the frame system.
	// replacementFrame is not allowed to exist within the frame system at the time of the call.
	ReplaceFrame(replacementFrame Frame) error
}

type FrameSystemPart struct {
	FrameConfig *LinkInFrame
	ModelFrame  Model
}

type GeometriesInFrame struct {
	// contains filtered or unexported fields
}

type Input struct {
	Value float64
}

type InputEnabled interface {
	CurrentInputs(ctx context.Context) ([]Input, error)
	GoToInputs(context.Context, ...[]Input) error
}

type JointConfig struct {
	ID       string                  `json:"id"`
	Type     string                  `json:"type"`
	Parent   string                  `json:"parent"`
	Axis     spatial.AxisConfig      `json:"axis"`
	Max      float64                 `json:"max"`                // in mm or degs
	Min      float64                 `json:"min"`                // in mm or degs
	Geometry *spatial.GeometryConfig `json:"geometry,omitempty"` // only valid for prismatic/translational joints
}

type Limit struct {
	Min float64
	Max float64
}

type Limited interface {
	// DoF will return a slice with length equal to the number of degrees of freedom.
	// Each element describes the min and max movement limit of that degree of freedom.
	// For robot parts that don't move, it returns an empty slice.
	DoF() []Limit
}

type LinkConfig struct {
	ID          string                     `json:"id"`
	Translation r3.Vector                  `json:"translation"`
	Orientation *spatial.OrientationConfig `json:"orientation"`
	Geometry    *spatial.GeometryConfig    `json:"geometry,omitempty"`
	Parent      string                     `json:"parent,omitempty"`
}

type LinkInFrame struct {
	*PoseInFrame
	// contains filtered or unexported fields
}

type Model interface {
	Frame
	ModelConfig() *ModelConfig
}

type ModelConfig struct {
	Name         string          `json:"name"`
	KinParamType string          `json:"kinematic_param_type,omitempty"`
	Links        []LinkConfig    `json:"links,omitempty"`
	Joints       []JointConfig   `json:"joints,omitempty"`
	DHParams     []DHParamConfig `json:"dhParams,omitempty"`
	OriginalFile *ModelFile
}

type ModelFile struct {
	Bytes     []byte
	Extension string
}

type ModelFramer interface {
	ModelFrame() Model
}

type PoseInFrame struct {
	// contains filtered or unexported fields
}

type SimpleModel struct {

	// OrdTransforms is the list of transforms ordered from end effector to base
	OrdTransforms []Frame
	// contains filtered or unexported fields
}

type Transformable interface {
	Transform(*PoseInFrame) Transformable
	Parent() string
}

type WorldState struct {
	// contains filtered or unexported fields
}