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extern crate nalgebra as na;

use errors::*;
use joints::*;
use na::{Isometry3, UnitQuaternion, Translation3, Real};

/// Joint and Link
///
#[derive(Debug, Clone)]
pub struct Link<T: Real> {
    pub name: String,
    /// joint instance
    pub joint: Joint<T>,
    /// local transfrom of joint
    pub transform: Isometry3<T>,
    /// cache of world transform
    pub world_transform_cache: Option<Isometry3<T>>,
}

impl<T> Link<T>
where
    T: Real,
{
    /// Construct a Link from name and joint instance
    ///
    /// You can use LinkBuilder<T> if you want.
    pub fn new(name: &str, joint: Joint<T>) -> Link<T> {
        Link {
            name: name.to_string(),
            joint: joint,
            transform: Isometry3::identity(),
            world_transform_cache: None,
        }
    }
    pub fn get_joint_name(&self) -> &str {
        &self.joint.name
    }
    pub fn calc_transform(&self) -> Isometry3<T> {
        self.transform * self.joint.calc_transform()
    }
    pub fn set_joint_angle(&mut self, angle: T) -> Result<(), JointError> {
        self.joint.set_angle(angle)
    }
    pub fn get_joint_angle(&self) -> Option<T> {
        self.joint.get_angle()
    }
    pub fn has_joint_angle(&self) -> bool {
        match self.joint.joint_type {
            JointType::Fixed => false,
            _ => true,
        }
    }
}


/// Build a `Link<T>`
///
/// # Examples
///
/// ```
/// extern crate nalgebra as na;
/// extern crate k;
/// let l0 = k::LinkBuilder::new()
///     .name("link1")
///     .translation(na::Translation3::new(0.0, 0.1, 0.0))
///     .joint("link_pitch", k::JointType::Rotational{axis: na::Vector3::y_axis()}, None)
///     .finalize();
/// println!("{:?}", l0);
/// ```
#[derive(Debug, Clone)]
pub struct LinkBuilder<T: Real> {
    name: String,
    joint: Joint<T>,
    transform: Isometry3<T>,
}

impl<T> Default for LinkBuilder<T>
where
    T: Real,
{
    fn default() -> Self {
        Self::new()
    }
}

impl<T> LinkBuilder<T>
where
    T: Real,
{
    pub fn new() -> LinkBuilder<T> {
        LinkBuilder {
            name: "".to_string(),
            joint: Joint::new("", JointType::Fixed),
            transform: Isometry3::identity(),
        }
    }
    pub fn name(mut self, name: &str) -> LinkBuilder<T> {
        self.name = name.to_string();
        self
    }
    pub fn joint(
        mut self,
        name: &str,
        joint_type: JointType<T>,
        limits: Option<Range<T>>,
    ) -> LinkBuilder<T> {
        self.joint = Joint::new(name, joint_type);
        self.joint.set_limits(limits);
        self
    }
    pub fn transform(mut self, transform: Isometry3<T>) -> LinkBuilder<T> {
        self.transform = transform;
        self
    }
    pub fn translation(mut self, translation: Translation3<T>) -> LinkBuilder<T> {
        self.transform.translation = translation;
        self
    }
    pub fn rotation(mut self, rotation: UnitQuaternion<T>) -> LinkBuilder<T> {
        self.transform.rotation = rotation;
        self
    }
    pub fn finalize(self) -> Link<T> {
        Link {
            name: self.name,
            joint: self.joint,
            transform: self.transform,
            world_transform_cache: None,
        }
    }
}