JacobianNode.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_DYNAMICS_JACOBIANNODE_HPP_
#define DART_DYNAMICS_JACOBIANNODE_HPP_
 
#include <memory>
#include <unordered_set>
 
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/Node.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class Skeleton;
class DegreeOfFreedom;
class InverseKinematics;
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class JacobianNode : public virtual Frame, public Node
{
public:
  virtual ~JacobianNode();
 
  using Node::getName;
  using Node::setName;
 
  const std::shared_ptr<InverseKinematics>& getIK(bool _createIfNull = false);
 
  const std::shared_ptr<InverseKinematics>& getOrCreateIK();
 
  std::shared_ptr<const InverseKinematics> getIK() const;
 
  const std::shared_ptr<InverseKinematics>& createIK();
 
  void clearIK();
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual bool dependsOn(std::size_t _genCoordIndex) const = 0;
 
  virtual std::size_t getNumDependentGenCoords() const = 0;
 
  virtual std::size_t getDependentGenCoordIndex(
      std::size_t _arrayIndex) const = 0;
 
  virtual const std::vector<std::size_t>& getDependentGenCoordIndices()
      const = 0;
 
  virtual std::size_t getNumDependentDofs() const = 0;
 
  virtual DegreeOfFreedom* getDependentDof(std::size_t _index) = 0;
 
  virtual const DegreeOfFreedom* getDependentDof(std::size_t _index) const = 0;
 
  virtual const std::vector<DegreeOfFreedom*>& getDependentDofs() = 0;
 
  virtual const std::vector<const DegreeOfFreedom*>& getDependentDofs()
      const = 0;
 
  virtual const std::vector<const DegreeOfFreedom*> getChainDofs() const = 0;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual const math::Jacobian& getJacobian() const = 0;
 
  virtual math::Jacobian getJacobian(const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobian(const Eigen::Vector3d& _offset) const = 0;
 
  virtual math::Jacobian getJacobian(
      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const = 0;
 
  virtual const math::Jacobian& getWorldJacobian() const = 0;
 
  virtual math::Jacobian getWorldJacobian(
      const Eigen::Vector3d& _offset) const = 0;
 
  virtual math::LinearJacobian getLinearJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobian(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::AngularJacobian getAngularJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual const math::Jacobian& getJacobianSpatialDeriv() const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const = 0;
 
  virtual const math::Jacobian& getJacobianClassicDeriv() const = 0;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobianDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::AngularJacobian getAngularJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
 
  DART_DEPRECATED(6.2)
  void notifyJacobianUpdate();
 
  void dirtyJacobian();
 
  DART_DEPRECATED(6.2)
  void notifyJacobianDerivUpdate();
 
  void dirtyJacobianDeriv();
 
protected:
  JacobianNode(BodyNode* bn);
 
  mutable bool mIsBodyJacobianDirty;
 
  mutable bool mIsWorldJacobianDirty;
 
  mutable bool mIsBodyJacobianSpatialDerivDirty;
 
  mutable bool mIsWorldJacobianClassicDerivDirty;
 
  std::shared_ptr<InverseKinematics> mIK;
 
  std::unordered_set<JacobianNode*> mChildJacobianNodes;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_JACOBIANNODE_HPP_