ConstrainedGroup.hpp

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#ifndef DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
#define DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
 
#include <memory>
#include <vector>
#include <Eigen/Dense>
 
#include "dart/constraint/SmartPointer.hpp"
 
namespace dart {
 
namespace dynamics {
class Skeleton;
} // namespace dynamics
 
namespace constraint {
 
struct ConstraintInfo;
class ConstraintBase;
class ConstraintSolver;
 
class ConstrainedGroup
{
public:
  //----------------------------------------------------------------------------
  // Constructor / Desctructor
  //----------------------------------------------------------------------------
 
  ConstrainedGroup();
 
  virtual ~ConstrainedGroup();
 
  //----------------------------------------------------------------------------
  // Setting
  //----------------------------------------------------------------------------
 
  void addConstraint(const ConstraintBasePtr& _constraint);
 
  std::size_t getNumConstraints() const;
 
  ConstraintBasePtr getConstraint(std::size_t _index);
 
  ConstConstraintBasePtr getConstraint(std::size_t _index) const;
 
  void removeConstraint(const ConstraintBasePtr& _constraint);
 
  void removeAllConstraints();
 
  std::size_t getTotalDimension() const;
 
  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------
 
  friend class ConstraintSolver;
 
private:
#ifndef NDEBUG
  bool containConstraint(const ConstConstraintBasePtr& _constraint) const;
#endif
 
  std::vector<ConstraintBasePtr> mConstraints;
 
  std::shared_ptr<dynamics::Skeleton> mRootSkeleton;
};
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_