cisstRobot and cisstParameterTypes: added code for backward compatibi…

…lity using cmnJointType.
jhu-cisst · May 9, 2024 · 29e89c5 · 29e89c5
1 parent 2d30088
commit 29e89c5
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Showing 4 changed files with 57 additions and 7 deletions.
diff --git a/cisstParameterTypes/code/CMakeLists.txt b/cisstParameterTypes/code/CMakeLists.txt
@@ -47,18 +47,18 @@ set (SOURCE_FILES
 
   prmVelocityJointGet.cpp
   prmVelocityJointSet.cpp
-  
+
   prmVelocityCartesianSet.cpp
   prmForceCartesianGet.cpp
   prmForceCartesianSet.cpp
-  
+
   prmActuatorState.cpp
   prmRobotState.cpp
   prmActuatorParameters.cpp
-  
+
   prmInputDataConverter.cpp
   prmOperatingState.cpp
-  
+
   prmClassServices.cpp
   )
 
@@ -71,17 +71,18 @@ set (HEADER_FILES
 
   prmVelocityJointGet.h
   prmVelocityJointSet.h
-  
+
   prmVelocityCartesianSet.h
   prmForceCartesianGet.h
   prmForceCartesianSet.h
-  
+
   prmMaskedVector.h
   prmActuatorState.h
   prmRobotState.h
   prmActuatorParameters.h
   prmGainParameters.h
-
+
+  prmJointType.h
   prmInputDataConverter.h
   )
 

diff --git a/cisstParameterTypes/prmConfigurationJoint.cdg b/cisstParameterTypes/prmConfigurationJoint.cdg
@@ -5,6 +5,7 @@ inline-header {
 #include <cisstCommon/cmnJointType.h>
 #include <cisstVector/vctDynamicVectorTypes.h>
 #include <cisstMultiTask/mtsGenericObject.h>
+#include <cisstParameterTypes/prmJointType.h>
 // Always include last
 #include <cisstParameterTypes/prmExport.h>
 }

diff --git a/cisstParameterTypes/prmJointType.h b/cisstParameterTypes/prmJointType.h
@@ -0,0 +1,40 @@
+/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
+/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
+
+/*
+  Author(s):	Anton Deguet
+  Created on:	2008-04-08
+
+  (C) Copyright 2024 Johns Hopkins University (JHU), All Rights Reserved.
+
+--- begin cisst license - do not edit ---
+
+This software is provided "as is" under an open source license, with
+no warranty.  The complete license can be found in license.txt and
+http://www.cisst.org/cisst/license.txt.
+
+--- end cisst license ---
+*/
+
+
+/*!
+  \file
+  \brief For backward compatibility, cmnJointType should be used instead
+*/
+
+
+#ifndef _prmJointType_h
+#define _prmJointType_h
+
+#include <cisstCommon/cmnJointType.h>
+
+typedef cmnJointType prmJointType;
+
+#define PRM_JOINT_UNDEFINED CMN_JOINT_UNDEFINED
+#define PRM_JOINT_PRISMATIC CMN_JOINT_PRISMATIC
+#define PRM_JOINT_REVOLUTE  CMN_JOINT_REVOLUTE
+#define PRM_JOINT_INACTIVE  CMN_JOINT_INACTIVE
+
+#define prmJointTypeToFactor cmnJointTypeToFactor
+
+#endif  // _prmJointType_h
diff --git a/cisstRobot/robJoint.h b/cisstRobot/robJoint.h
@@ -35,6 +35,14 @@ class CISST_EXPORT robJoint {
 
  public:
 
+  // for backward compatibility
+  typedef cmnJointType Type;
+  static const cmnJointType UNDEFINED = CMN_JOINT_UNDEFINED;
+  static const cmnJointType HINGE = CMN_JOINT_REVOLUTE;
+  static const cmnJointType SLIDER = CMN_JOINT_PRISMATIC;
+  static const cmnJointType UNIVERSAL = CMN_JOINT_UNIVERSAL;
+  static const cmnJointType BALLSOCKET = CMN_JOINT_BALL_SOCKET;
+
   //! Joint modes
   /**
      Each joint can be active (powered by a motor) or passive