ShapeNode.hpp

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#ifndef DART_DYNAMICS_SHAPENODE_HPP_
#define DART_DYNAMICS_SHAPENODE_HPP_
 
#include <Eigen/Dense>
 
#include "dart/common/Signal.hpp"
#include "dart/dynamics/detail/ShapeNode.hpp"
 
namespace dart {
namespace dynamics {
 
class VisualAspect;
class CollisionAspect;
class DynamicsAspect;
 
class ShapeNode : public detail::ShapeNodeCompositeBase
{
public:
  friend class BodyNode;
 
  using ShapeUpdatedSignal = common::Signal<void(
      const ShapeNode* thisShapeNode,
      const ShapePtr& oldShape,
      const ShapePtr& newShape)>;
 
  using RelativeTransformUpdatedSignal = common::Signal<void(
      const ShapeNode* thisShapeNode,
      const Eigen::Isometry3d& oldTransform,
      const Eigen::Isometry3d& newTransform)>;
 
  using BasicProperties
      = common::Composite::MakeProperties<NameAspect, FixedFrame, ShapeFrame>;
 
  using Properties = common::Composite::Properties;
 
  virtual ~ShapeNode() = default;
 
  void setProperties(const Properties& properties);
 
  const Properties getShapeNodeProperties() const;
 
  void copy(const ShapeNode& other);
 
  void copy(const ShapeNode* other);
 
  ShapeNode& operator=(const ShapeNode& other);
 
  void setRelativeTransform(const Eigen::Isometry3d& transform) override;
 
  void setRelativeRotation(const Eigen::Matrix3d& rotation);
 
  Eigen::Matrix3d getRelativeRotation() const;
 
  void setRelativeTranslation(const Eigen::Vector3d& translation);
 
  void setOffset(const Eigen::Vector3d& offset);
 
  Eigen::Vector3d getRelativeTranslation() const;
 
  Eigen::Vector3d getOffset() const;
 
  // Documentation inherited
  ShapeNode* asShapeNode() override;
 
  // Documentation inherited
  const ShapeNode* asShapeNode() const override;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
protected:
  ShapeNode(BodyNode* bodyNode, const BasicProperties& properties);
 
  ShapeNode(
      BodyNode* bodyNode,
      const ShapePtr& shape,
      const std::string& name = "ShapeNode");
 
  Node* cloneNode(BodyNode* parent) const override;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_SHAPENODE_HPP_