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  /* Author: Wim Meeussen */
  
  #ifndef URDF_INTERFACE_JOINT_H
  #define URDF_INTERFACE_JOINT_H
  
  #include <string>
  #include <vector>
  #ifdef URDF_USE_BOOST
  #include <boost/shared_ptr.hpp>
  #define my_shared_ptr my_shared_ptr
  #else
  #include <urdf/boost_replacement/shared_ptr.h>
  #endif
  
  #include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
  
  
  namespace urdf{
  
  class Link;
  
  class JointDynamics
  {
  public:
    JointDynamics() { this->clear(); };
    double damping;
    double friction;
  
    void clear()
    {
      damping = 0;
      friction = 0;
    };
  };
  
  class JointLimits
  {
  public:
    JointLimits() { this->clear(); };
    double lower;
    double upper;
    double effort;
    double velocity;
  
    void clear()
    {
      lower = 0;
      upper = 0;
      effort = 0;
      velocity = 0;
    };
  };
  
  /// \brief Parameters for Joint Safety Controllers
  class JointSafety
  {
  public:
    /// clear variables on construction
    JointSafety() { this->clear(); };
  
    /// 
    /// IMPORTANT:  The safety controller support is very much PR2 specific, not intended for generic usage.
    /// 
    /// Basic safety controller operation is as follows
    /// 
    /// current safety controllers will take effect on joints outside the position range below:
    ///
    /// position range: [JointSafety::soft_lower_limit  + JointLimits::velocity / JointSafety::k_position, 
    ///                  JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position]
    ///
    /// if (joint_position is outside of the position range above)
    ///     velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit)
    ///     velocity_limit_max =  JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit)
    /// else
    ///     velocity_limit_min = -JointLimits::velocity
    ///     velocity_limit_max =  JointLimits::velocity
    ///
    /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity,
    ///                  velocity_limit_max - JointLimits::effort / JointSafety::k_velocity]
    ///
    /// if (joint_velocity is outside of the velocity range above)
    ///     effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min)
    ///     effort_limit_max =  JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max)
    /// else
    ///     effort_limit_min = -JointLimits::effort
    ///     effort_limit_max =  JointLimits::effort
    ///
    /// Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max]
    ///
    /// Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits
    /// 
    double soft_upper_limit;
    double soft_lower_limit;
    double k_position;
    double k_velocity;
  
    void clear()
    {
      soft_upper_limit = 0;
      soft_lower_limit = 0;
      k_position = 0;
      k_velocity = 0;
    };
  };
  
  
  class JointCalibration
  {
  public:
    JointCalibration() { this->clear(); };
    double reference_position;
    my_shared_ptr<double> rising, falling;
  
    void clear()
    {
      reference_position = 0;
    };
  };
  
  class JointMimic
  {
  public:
    JointMimic() { this->clear(); };
    double offset;
    double multiplier;
    std::string joint_name;
  
    void clear()
    {
      offset = 0.0;
      multiplier = 0.0;
      joint_name.clear();
    };
  };
  
  
  class Joint
  {
  public:
  
    Joint() { this->clear(); };
  
    std::string name;
    enum
    {
      UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED
    } type;
  
    /// \brief     type_       meaning of axis_
    /// ------------------------------------------------------
    ///            UNKNOWN     unknown type
    ///            REVOLUTE    rotation axis
    ///            PRISMATIC   translation axis
    ///            FLOATING    N/A
    ///            PLANAR      plane normal axis
    ///            FIXED       N/A
    Vector3 axis;
  
    /// child Link element
    ///   child link frame is the same as the Joint frame
    std::string child_link_name;
  
    /// parent Link element
    ///   origin specifies the transform from Parent Link to Joint Frame
    std::string parent_link_name;
    /// transform from Parent Link frame to Joint frame
    Pose  parent_to_joint_origin_transform;
  
    /// Joint Dynamics
    my_shared_ptr<JointDynamics> dynamics;
  
    /// Joint Limits
    my_shared_ptr<JointLimits> limits;
  
    /// Unsupported Hidden Feature
    my_shared_ptr<JointSafety> safety;
  
    /// Unsupported Hidden Feature
    my_shared_ptr<JointCalibration> calibration;
  
    /// Option to Mimic another Joint
    my_shared_ptr<JointMimic> mimic;
  
    void clear()
    {
      this->axis.clear();
      this->child_link_name.clear();
      this->parent_link_name.clear();
      this->parent_to_joint_origin_transform.clear();
      this->dynamics.reset(0);
      this->limits.reset(0);
      this->safety.reset(0);
      this->calibration.reset(0);
      this->type = UNKNOWN;
    };
  };
  
  }
  
  #endif
  