Frame.hpp

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#ifndef DART_DYNAMICS_FRAME_HPP_
#define DART_DYNAMICS_FRAME_HPP_
 
#include <set>
 
#include <Eigen/Geometry>
 
#include "dart/dynamics/Entity.hpp"
#include "dart/math/MathTypes.hpp"
 
namespace dart {
namespace dynamics {
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Frame : public virtual Entity
{
public:
  friend class Entity;
  friend class WorldFrame;
  friend class ShapeFrame;
 
  Frame(const Frame&) = delete;
 
  ~Frame() override;
 
  static Frame* World();
 
  // Shared pointer version for Pythong binding. In the current binding setting,
  // Frame is always held in std::shared_ptr. This means it will double free
  // when Frame* World() is used because Frame* World() returns a raw pointer of
  // static instance. This workaround wouldn't heart the performance too much
  // because it only creates one additional WorldFrame instance and one
  // shared_ptr to hold it.
  static std::shared_ptr<Frame> WorldShared();
 
  //--------------------------------------------------------------------------
  // Transform
  //--------------------------------------------------------------------------
 
  virtual const Eigen::Isometry3d& getRelativeTransform() const = 0;
 
  const Eigen::Isometry3d& getWorldTransform() const;
 
  Eigen::Isometry3d getTransform(
      const Frame* _withRespectTo = Frame::World()) const;
 
  Eigen::Isometry3d getTransform(
      const Frame* withRespectTo, const Frame* inCoordinatesOf) const;
 
  //-------------------------------------------------------------------------
  // Velocity
  //-------------------------------------------------------------------------
 
  virtual const Eigen::Vector6d& getRelativeSpatialVelocity() const = 0;
 
  const Eigen::Vector6d& getSpatialVelocity() const;
 
  Eigen::Vector6d getSpatialVelocity(
      const Frame* _relativeTo, const Frame* _inCoordinatesOf) const;
 
  Eigen::Vector6d getSpatialVelocity(const Eigen::Vector3d& _offset) const;
 
  Eigen::Vector6d getSpatialVelocity(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo,
      const Frame* _inCoordinatesOf) const;
 
  Eigen::Vector3d getLinearVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  Eigen::Vector3d getLinearVelocity(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  Eigen::Vector3d getAngularVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  //--------------------------------------------------------------------------
  // Acceleration
  //--------------------------------------------------------------------------
 
  virtual const Eigen::Vector6d& getRelativeSpatialAcceleration() const = 0;
 
  virtual const Eigen::Vector6d& getPrimaryRelativeAcceleration() const = 0;
 
  virtual const Eigen::Vector6d& getPartialAcceleration() const = 0;
 
  const Eigen::Vector6d& getSpatialAcceleration() const;
 
  Eigen::Vector6d getSpatialAcceleration(
      const Frame* _relativeTo, const Frame* _inCoordinatesOf) const;
 
  Eigen::Vector6d getSpatialAcceleration(const Eigen::Vector3d& _offset) const;
 
  Eigen::Vector6d getSpatialAcceleration(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo,
      const Frame* _inCoordinatesOf) const;
 
  Eigen::Vector3d getLinearAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  Eigen::Vector3d getLinearAcceleration(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  Eigen::Vector3d getAngularAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  //--------------------------------------------------------------------------
  // Relationships
  //--------------------------------------------------------------------------
 
  const std::set<Entity*>& getChildEntities();
 
  const std::set<const Entity*> getChildEntities() const;
 
  std::size_t getNumChildEntities() const;
 
  const std::set<Frame*>& getChildFrames();
 
  std::set<const Frame*> getChildFrames() const;
 
  std::size_t getNumChildFrames() const;
 
  bool isShapeFrame() const;
 
  virtual ShapeFrame* asShapeFrame();
 
  virtual const ShapeFrame* asShapeFrame() const;
 
  bool isWorld() const;
 
  virtual void dirtyTransform() override;
 
  virtual void dirtyVelocity() override;
 
  virtual void dirtyAcceleration() override;
 
protected:
  enum ConstructAbstractTag
  {
    ConstructAbstract
  };
 
  explicit Frame(Frame* _refFrame);
 
  Frame();
 
  explicit Frame(ConstructAbstractTag);
 
  // Documentation inherited
  virtual void changeParentFrame(Frame* _newParentFrame) override;
 
  virtual void processNewEntity(Entity* _newChildEntity);
 
  virtual void processRemovedEntity(Entity* _oldChildEntity);
 
private:
  enum ConstructWorldTag
  {
    ConstructWorld
  };
 
  explicit Frame(ConstructWorldTag);
 
protected:
  mutable Eigen::Isometry3d mWorldTransform;
 
  mutable Eigen::Vector6d mVelocity;
 
  mutable Eigen::Vector6d mAcceleration;
 
  std::set<Frame*> mChildFrames;
 
  std::set<Entity*> mChildEntities;
 
private:
  const bool mAmWorld;
 
  bool mAmShapeFrame;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
class WorldFrame : public Frame
{
public:
  friend class Frame;
 
  const Eigen::Isometry3d& getRelativeTransform() const override final;
 
  const Eigen::Vector6d& getRelativeSpatialVelocity() const override final;
 
  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override final;
 
  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override final;
 
  const Eigen::Vector6d& getPartialAcceleration() const override final;
 
  const std::string& setName(const std::string& name) override final;
 
  const std::string& getName() const override final;
 
private:
  explicit WorldFrame();
 
private:
  const Eigen::Isometry3d mRelativeTf;
 
  static const Eigen::Vector6d mZero;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_FRAME_HPP_