Group.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.
 */
 
#include "dart/dynamics/ReferentialSkeleton.hpp"
 
#ifndef DART_DYNAMICS_GROUP_HPP_
#  define DART_DYNAMICS_GROUP_HPP_
 
namespace dart {
namespace dynamics {
 
class Group : public ReferentialSkeleton
{
public:
  static GroupPtr create(
      const std::string& _name = "Group",
      const std::vector<BodyNode*>& _bodyNodes = std::vector<BodyNode*>(),
      bool _includeJoints = true,
      bool _includeDofs = true);
 
  static GroupPtr create(
      const std::string& _name,
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _includeBodyNodes = true,
      bool _includeJoints = true);
 
  static GroupPtr create(
      const std::string& _name, const MetaSkeletonPtr& _metaSkeleton);
 
  virtual ~Group() = default;
 
  GroupPtr cloneGroup() const;
 
  GroupPtr cloneGroup(const std::string& cloneName) const;
 
  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;
 
  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const override;
 
  void swapBodyNodeIndices(std::size_t _index1, std::size_t _index2);
 
  void swapDofIndices(std::size_t _index1, std::size_t _index2);
 
  bool addComponent(BodyNode* _bn, bool _warning = true);
 
  bool addComponents(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
 
  bool removeComponent(BodyNode* _bn, bool _warning = true);
 
  bool removeComponents(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
 
  bool addBodyNode(BodyNode* _bn, bool _warning = true);
 
  bool addBodyNodes(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
 
  bool removeBodyNode(BodyNode* _bn, bool _warning = true);
 
  bool removeBodyNodes(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);
 
  bool addJoint(Joint* _joint, bool _addDofs = true, bool _warning = true);
 
  bool addJoints(
      const std::vector<Joint*>& _joints,
      bool _addDofs = true,
      bool _warning = true);
 
  bool removeJoint(
      Joint* _joint, bool _removeDofs = true, bool _warning = true);
 
  bool removeJoints(
      const std::vector<Joint*>& _joints,
      bool _removeDofs = true,
      bool _warning = true);
 
  bool addDof(
      DegreeOfFreedom* _dof, bool _addJoint = true, bool _warning = true);
 
  bool addDofs(
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _addJoint = true,
      bool _warning = true);
 
  bool removeDof(
      DegreeOfFreedom* _dof, bool _cleanupJoint = true, bool _warning = true);
 
  bool removeDofs(
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _cleanupJoint = true,
      bool _warning = true);
 
protected:
  Group(
      const std::string& _name,
      const std::vector<BodyNode*>& _bodyNodes,
      bool _includeJoints,
      bool _includeDofs);
 
  Group(
      const std::string& _name,
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _includeBodyNodes,
      bool _includeJoints);
 
  Group(const std::string& _name, const MetaSkeletonPtr& _metaSkeleton);
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_GROUP_HPP_