SmartPointer.hpp

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#ifndef DART_DYNAMICS_SMARTPOINTER_HPP_
#define DART_DYNAMICS_SMARTPOINTER_HPP_
 
#include "dart/common/SmartPointer.hpp"
#include "dart/dynamics/detail/BodyNodePtr.hpp"
#include "dart/dynamics/detail/DegreeOfFreedomPtr.hpp"
#include "dart/dynamics/detail/InverseKinematicsPtr.hpp"
#include "dart/dynamics/detail/JointPtr.hpp"
#include "dart/dynamics/detail/NodePtr.hpp"
 
// This file is a lightweight means of providing the smart pointers which are
// commonly used within the dart::dynamics namespace. It is 'lightweight' in the
// sense that it does not depend on any types being fully defined, making this
// header suitable for inclusion in other headers which might only want access
// to the smart pointers without needing fully defined classes.
 
namespace dart {
namespace dynamics {
 
DART_COMMON_DECLARE_SHARED_WEAK(ShapeFrame)
DART_COMMON_DECLARE_SHARED_WEAK(SimpleFrame)
 
DART_COMMON_DECLARE_SHARED_WEAK(NodeDestructor)
 
//-----------------------------------------------------------------------------
// Skeleton Smart Pointers
//-----------------------------------------------------------------------------
DART_COMMON_DECLARE_SHARED_WEAK(Skeleton)
// These pointers will take the form of:
// std::shared_ptr<Skeleton>        --> SkeletonPtr
// std::shared_ptr<const Skeleton>  --> ConstSkeletonPtr
// std::weak_ptr<Skeleton>          --> WeakSkeletonPtr
// std::weak_ptr<const Skeleton>    --> WeakConstSkeletonPtr
 
// MetaSkeleton smart pointers
DART_COMMON_DECLARE_SHARED_WEAK(MetaSkeleton)
 
// ReferentialSkeleton smart pointers
DART_COMMON_DECLARE_SHARED_WEAK(ReferentialSkeleton)
 
DART_COMMON_DECLARE_SHARED_WEAK(Group)
DART_COMMON_DECLARE_SHARED_WEAK(Linkage)
DART_COMMON_DECLARE_SHARED_WEAK(Branch)
DART_COMMON_DECLARE_SHARED_WEAK(Chain)
 
//-----------------------------------------------------------------------------
// Shape Smart Pointers
//-----------------------------------------------------------------------------
DART_COMMON_DECLARE_SHARED_WEAK(Shape)
DART_COMMON_DECLARE_SHARED_WEAK(ArrowShape)
DART_COMMON_DECLARE_SHARED_WEAK(BoxShape)
DART_COMMON_DECLARE_SHARED_WEAK(CylinderShape)
DART_COMMON_DECLARE_SHARED_WEAK(EllipsoidShape)
DART_COMMON_DECLARE_SHARED_WEAK(LineSegmentShape)
DART_COMMON_DECLARE_SHARED_WEAK(MeshShape)
DART_COMMON_DECLARE_SHARED_WEAK(PlaneShape)
DART_COMMON_DECLARE_SHARED_WEAK(SoftMeshShape)
 
//-----------------------------------------------------------------------------
// BodyNode Smart Pointers
//-----------------------------------------------------------------------------
#define DART_DYNAMICS_MAKE_BODYNODEPTR(X)                                      \
  class X;                                                                     \
  using X##Ptr = TemplateBodyNodePtr<X>;                                       \
  using Const##X##Ptr = TemplateBodyNodePtr<const X>;                          \
  using Weak##X##Ptr = TemplateWeakBodyNodePtr<X>;                             \
  using WeakConst##X##Ptr = TemplateWeakBodyNodePtr<const X>;
 
// BodyNode smart pointers
DART_DYNAMICS_MAKE_BODYNODEPTR(BodyNode)
// These pointers will take the form of:
// TemplateBodyNodePtr<BodyNode>            --> BodyNodePtr
// TemplateBodyNodePtr<const BodyNode>      --> ConstBodyNodePtr
// TemplateWeakBodyNodePtr<BodyNode>        --> WeakBodyNodePtr
// TemplateWeakBodyNodePtr<const BodyNode>  --> WeakConstBodyNodePtr
 
// SoftBodyNode smart pointers
DART_DYNAMICS_MAKE_BODYNODEPTR(SoftBodyNode)
 
//-----------------------------------------------------------------------------
// BodyNode-dependent Smart Pointers
//-----------------------------------------------------------------------------
#define DART_DYNAMICS_MAKE_BN_DEPENDENT_PTR(X)                                 \
  class X;                                                                     \
  using X##Ptr = Template##X##Ptr<X, BodyNode>;                                \
  using Const##X##Ptr = Template##X##Ptr<const X, const BodyNode>;             \
  using Weak##X##Ptr = TemplateWeak##X##Ptr<X, BodyNode>;                      \
  using WeakConst##X##Ptr = TemplateWeak##X##Ptr<const X, const BodyNode>;
 
// Joint smart pointers
DART_DYNAMICS_MAKE_BN_DEPENDENT_PTR(Joint)
// These pointers will take the form of:
// TemplateJointPtr<Joint>            --> JointPtr
// TemplateJointPtr<const Joint>      --> ConstJointPtr
// TemplateWeakJointPtr<Joint>        --> WeakJointPtr
// TemplateWeakJointPtr<const Joint>  --> WeakConstJointPtr
 
// DegreeOfFreedom smart pointers
DART_DYNAMICS_MAKE_BN_DEPENDENT_PTR(DegreeOfFreedom)
// These pointers will take the form of:
// TemplateDegreeOfFreedomPtr<DegreeOfFreedom>       --> DegreeOfFreedomPtr
// TemplateDegreeOfFreedomPtr<const DegreeOfFreedom> --> ConstDegreeOfFreedomPtr
// TemplateWeakDegreeOfFreedomPtr<DegreeOfFreedom>   --> WeakDegreeOfFreedomPtr
// TemplateWeakDegreeOfFreedomPtr<const DegreeOfFreedom>
//                                               --> WeakConstDegreeOfFreedomPtr
 
//-----------------------------------------------------------------------------
// Node Smart Pointers
//-----------------------------------------------------------------------------
#define DART_DYNAMICS_MAKE_NODEPTR(X)                                          \
  class X;                                                                     \
  using X##Ptr = TemplateNodePtr<X, BodyNode>;                                 \
  using Const##X##Ptr = TemplateNodePtr<const X, const BodyNode>;              \
  using Weak##X##Ptr = TemplateWeakNodePtr<X, BodyNode>;                       \
  using WeakConst##X##Ptr = TemplateWeakNodePtr<const X, const BodyNode>;
 
DART_DYNAMICS_MAKE_NODEPTR(Node)
// These pointers will take the form of:
// TemplateNodePtr<Node>            --> NodePtr
// TemplateNodePtr<const Node>      --> ConstNodePtr
// TemplateWeakNodePtr<Node>        --> WeakNodePtr
// TemplateWeakNodePtr<const Node>  --> WeakConstNodePtr
 
DART_DYNAMICS_MAKE_NODEPTR(JacobianNode)
 
DART_DYNAMICS_MAKE_NODEPTR(EndEffector)
// These pointers will take the form of:
// TemplateNodePtr<EndEffector>             --> EndEffectorPtr
// TemplateNodePtr<const EndEffector>       --> ConstEndEffectorPtr
// TemplateWeakNodePtr<EndEffector>         --> WeakEndEffectorPtr
// TemplateWeakNodePtr<const EndEffector>   --> WeakConstEndEffectorPtr
 
DART_DYNAMICS_MAKE_NODEPTR(ShapeNode)
 
//-----------------------------------------------------------------------------
// InverseKinematics Smart Pointers
//-----------------------------------------------------------------------------
#define DART_DYNAMICS_MAKE_IK_PTR(X)                                           \
  class X;                                                                     \
  using X##Ptr = TemplateInverseKinematicsPtr<X, JacobianNodePtr>;             \
  using Const##X##Ptr                                                          \
      = TemplateInverseKinematicsPtr<const X, ConstJacobianNodePtr>;           \
  using Weak##X##Ptr = TemplateWeakInverseKinematicsPtr<X, JacobianNodePtr>;   \
  using WeakConst##X##Ptr                                                      \
      = TemplateWeakInverseKinematicsPtr<const X, ConstJacobianNodePtr>;
 
DART_DYNAMICS_MAKE_IK_PTR(InverseKinematics)
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_SMARTPOINTER_HPP_