adding JointUrdfDataManager #68

Unity3D/Assets/RosSharp/Scripts/UrdfComponents/JointUrdfDataManager.cs

@@ -0,0 +1,59 @@
+/*
+© Siemens AG, 2017-2018
+Author: Dr. Martin Bischoff ([email protected])
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+<http://www.apache.org/licenses/LICENSE-2.0>.
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+using UnityEngine;
+
+namespace RosSharp
+{
+    //  [ExecuteInEditMode]
+    [RequireComponent(typeof(Joint))]
+    public class JointUrdfDataManager : MonoBehaviour
+    {
+        public enum JointTypes { continuous, revolute, prismatic, undefined };
+        public string JointName;         
+        public JointTypes JointType;
+
+        public bool IsRevoluteOrContinuous
+        {
+            get { return JointType == JointTypes.continuous || JointType == JointTypes.revolute; }
+        }
+        public bool IsPrismatic { get { return JointType == JointTypes.prismatic; } }
+
+        public static JointUrdfDataManager AddComponent(GameObject _gameObject, string jointName, string jointType)
+        {
+            JointUrdfDataManager jointUrdfDataManager = _gameObject.AddComponent<JointUrdfDataManager>();
+            jointUrdfDataManager.JointName = jointName;
+            jointUrdfDataManager.JointType = GetJointType(jointType);
+            return jointUrdfDataManager;
+        }
+
+        private static JointTypes GetJointType(string jointType)
+        {
+            switch (jointType)
+            {
+                case "continuous":
+                    return JointTypes.continuous;
+                case "revolute":
+                    return JointTypes.revolute;
+                case "prismatic":
+                    return JointTypes.prismatic;
+                default:
+                    return JointTypes.undefined;
+            }
+        }
+
+    }
+}
+