This PR adds the DQ_JointType class and setter and getter methods for the DQ_SerialManipulator class.

[juanjqo]

Hi @dqrobotics/developers,

This PR adds the DQ_JointType class and setter and getter methods for the DQ_SerialManipulator class. All of them are already available in the Matlab version of the DQ Robotics. The class follows the pattern design of the DQ_ParameterDH class (added in #69), which prioritizes the language compatibility with the MATLAB implementation.

I proposed a test example in dqrobotics/cpp-examples#21.

Usage

Creating a robot

 DQ_JointType R = DQ_JointType::REVOLUTE;

 Matrix<double,5,7> dh_matrix(5,7);
 dh_matrix <<11, 12, 13, 14, 15, 16, 17, // theta
                        21, 22, 23, 24, 25, 26, 27, // d
                        31, 32, 33, 34, 35, 36, 37, // a
                        41, 42, 43, 44, 45, 46, 47, // alpha
                        R,  R,  R,  R,  R,  R,  R;
 auto dh_robot = std::make_shared<DQ_SerialManipulatorDH>(dh_matrix);

// getter and setter methods
  dh_robot->get_joint_type(0);
  dh_robot->set_joint_type(DQ_JointType::PRISMATIC, 2);
  auto joint_types = dh_robot->get_joint_types();

Setting unsupported joints

 dh_robot ->set_joint_type(DQ_JointType::HELICAL, 0);

libc++abi: terminating due to uncaught exception of type std::runtime_error: Unsupported joint types. Use valid joint types: DQ_JointType::REVOLUTE, DQ_JointType::PRISMATIC.

Kind regards,

Juancho

[mmmarinho]

Easy one for you @juanjqo

[mmmarinho]

The method name ‘ToString’ is not compliant. I think we have something similar in ‘DQ’, could you please refer to that one?

[juanjqo]

@mmmarinho fixed! =)

[mmmarinho]

Accepted pending dqrobotics/cpp-examples#21