ConstraintSolver.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
#define DART_CONSTRAINT_CONSTRAINTSOVER_HPP_
 
#include <vector>
 
#include <Eigen/Dense>
 
#include "dart/collision/CollisionDetector.hpp"
#include "dart/common/Deprecated.hpp"
#include "dart/constraint/ConstrainedGroup.hpp"
#include "dart/constraint/ConstraintBase.hpp"
#include "dart/constraint/SmartPointer.hpp"
 
namespace dart {
 
namespace dynamics {
class Skeleton;
class ShapeNodeCollisionObject;
} // namespace dynamics
 
namespace constraint {
 
class ConstraintSolver
{
public:
  DART_DEPRECATED(6.8)
  explicit ConstraintSolver(double timeStep);
 
  // TODO(JS): Remove timeStep. The timestep can be set by world when a
  // constraint solver is assigned to a world.
  // Deprecate
 
  ConstraintSolver();
 
  // TODO: implement copy constructor since this class contains a pointer to
  // allocated memory.
  ConstraintSolver(const ConstraintSolver& other) = delete;
 
  virtual ~ConstraintSolver() = default;
 
  void addSkeleton(const dynamics::SkeletonPtr& skeleton);
 
  void addSkeletons(const std::vector<dynamics::SkeletonPtr>& skeletons);
 
  const std::vector<dynamics::SkeletonPtr>& getSkeletons() const;
 
  void removeSkeleton(const dynamics::SkeletonPtr& skeleton);
 
  void removeSkeletons(const std::vector<dynamics::SkeletonPtr>& skeletons);
 
  void removeAllSkeletons();
 
  void addConstraint(const ConstraintBasePtr& constraint);
 
  void removeConstraint(const ConstraintBasePtr& constraint);
 
  void removeAllConstraints();
 
  std::size_t getNumConstraints() const;
 
  constraint::ConstraintBasePtr getConstraint(std::size_t index);
 
  constraint::ConstConstraintBasePtr getConstraint(std::size_t index) const;
 
  std::vector<constraint::ConstraintBasePtr> getConstraints();
 
  std::vector<constraint::ConstConstraintBasePtr> getConstraints() const;
 
  void clearLastCollisionResult();
 
  virtual void setTimeStep(double _timeStep);
 
  double getTimeStep() const;
 
  DART_DEPRECATED(6.0)
  void setCollisionDetector(collision::CollisionDetector* collisionDetector);
 
  void setCollisionDetector(
      const std::shared_ptr<collision::CollisionDetector>& collisionDetector);
 
  collision::CollisionDetectorPtr getCollisionDetector();
 
  collision::ConstCollisionDetectorPtr getCollisionDetector() const;
 
  collision::CollisionGroupPtr getCollisionGroup();
 
  collision::ConstCollisionGroupPtr getCollisionGroup() const;
 
  collision::CollisionOption& getCollisionOption();
 
  const collision::CollisionOption& getCollisionOption() const;
 
  collision::CollisionResult& getLastCollisionResult();
 
  const collision::CollisionResult& getLastCollisionResult() const;
 
  DART_DEPRECATED(6.7)
  void setLCPSolver(std::unique_ptr<LCPSolver> lcpSolver);
 
  DART_DEPRECATED(6.7)
  LCPSolver* getLCPSolver() const;
 
  void solve();
 
  virtual void setFromOtherConstraintSolver(const ConstraintSolver& other);
 
protected:
  // TODO(JS): Docstring
  virtual void solveConstrainedGroup(ConstrainedGroup& group) = 0;
 
  bool containSkeleton(const dynamics::ConstSkeletonPtr& skeleton) const;
 
  bool checkAndAddSkeleton(const dynamics::SkeletonPtr& skeleton);
 
  bool containConstraint(const ConstConstraintBasePtr& constraint) const;
 
  bool checkAndAddConstraint(const ConstraintBasePtr& constraint);
 
  void updateConstraints();
 
  void buildConstrainedGroups();
 
  void solveConstrainedGroups();
 
  bool isSoftContact(const collision::Contact& contact) const;
 
  using CollisionDetector = collision::CollisionDetector;
 
  collision::CollisionDetectorPtr mCollisionDetector;
 
  collision::CollisionGroupPtr mCollisionGroup;
 
  collision::CollisionOption mCollisionOption;
 
  collision::CollisionResult mCollisionResult;
 
  double mTimeStep;
 
  std::vector<dynamics::SkeletonPtr> mSkeletons;
 
  std::vector<ContactConstraintPtr> mContactConstraints;
 
  std::vector<SoftContactConstraintPtr> mSoftContactConstraints;
 
  std::vector<JointLimitConstraintPtr> mJointLimitConstraints;
 
  std::vector<ServoMotorConstraintPtr> mServoMotorConstraints;
 
  std::vector<MimicMotorConstraintPtr> mMimicMotorConstraints;
 
  std::vector<JointCoulombFrictionConstraintPtr>
      mJointCoulombFrictionConstraints;
 
  std::vector<ConstraintBasePtr> mManualConstraints;
 
  std::vector<ConstraintBasePtr> mActiveConstraints;
 
  std::vector<ConstrainedGroup> mConstrainedGroups;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_CONSTRAINTSOVER_HPP_