Marker.hpp

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#ifndef DART_DYNAMICS_MARKER_HPP_
#define DART_DYNAMICS_MARKER_HPP_
 
#include <Eigen/Dense>
#include "dart/common/Deprecated.hpp"
#include "dart/dynamics/FixedJacobianNode.hpp"
#include "dart/dynamics/detail/MarkerAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class BodyNode;
 
class Marker final : public common::EmbedPropertiesOnTopOf<
                         Marker,
                         detail::MarkerProperties,
                         FixedJacobianNode>
{
public:
  using ConstraintType = detail::MarkerProperties::ConstraintType;
  static constexpr ConstraintType NO = detail::MarkerProperties::NO;
  static constexpr ConstraintType HARD = detail::MarkerProperties::HARD;
  static constexpr ConstraintType SOFT = detail::MarkerProperties::SOFT;
 
  using BasicProperties
      = common::Composite::MakeProperties<NameAspect, FixedFrame, Marker>;
 
  using Properties = common::Composite::Properties;
 
  virtual ~Marker() = default;
 
  void setAspectProperties(const AspectProperties& properties);
 
  DART_DEPRECATED(6.0)
  BodyNode* getBodyNode();
 
  DART_DEPRECATED(6.0)
  const BodyNode* getBodyNode() const;
 
  Eigen::Vector3d getLocalPosition() const;
 
  void setLocalPosition(const Eigen::Vector3d& offset);
 
  Eigen::Vector3d getWorldPosition() const;
 
  int getID() const;
 
  void setConstraintType(ConstraintType type);
 
  ConstraintType getConstraintType() const;
 
  void setColor(const Eigen::Vector4d& color);
 
  const Eigen::Vector4d& getColor() const;
 
  friend class BodyNode;
 
protected:
  Marker(BodyNode* parent, const BasicProperties& properties);
 
  // Documentation inherited
  Node* cloneNode(BodyNode* parent) const override;
 
private:
  int mID;
 
  static int msMarkerCount;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_MARKER_HPP_