Linkage.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_LINKAGE_HPP_
#define DART_DYNAMICS_LINKAGE_HPP_
 
#include <unordered_set>
 
#include "dart/dynamics/ReferentialSkeleton.hpp"
 
namespace dart {
namespace dynamics {
 
class Linkage : public ReferentialSkeleton
{
public:
  struct Criteria
  {
    enum ExpansionPolicy
    {
      INCLUDE = 0, 
      EXCLUDE, 
      DOWNSTREAM, 
      UPSTREAM    
    };
 
    std::vector<BodyNode*> satisfy() const;
 
    struct Target
    {
      Target(
          BodyNode* _target = nullptr,
          ExpansionPolicy _policy = INCLUDE,
          bool _chain = false);
 
      WeakBodyNodePtr mNode;
 
      ExpansionPolicy mPolicy;
 
      bool mChain;
    };
 
    Target mStart;
 
    std::vector<Target> mTargets;
 
    struct Terminal
    {
      Terminal(BodyNode* _terminal = nullptr, bool _inclusive = true);
 
      WeakBodyNodePtr mTerminal;
 
      bool mInclusive;
    };
 
    std::vector<Terminal> mTerminals;
 
    Criteria() = default;
 
    Criteria(
        BodyNode* start,
        BodyNode* target,
        bool includeUpstreamParentJoint = false);
 
  protected:
    void refreshTerminalMap() const;
 
    void expansionPolicy(
        BodyNode* _start,
        ExpansionPolicy _policy,
        std::vector<BodyNode*>& _bns) const;
 
    void expandDownstream(
        BodyNode* _start,
        std::vector<BodyNode*>& _bns,
        bool _includeStart) const;
 
    void expandUpstream(
        BodyNode* _start,
        std::vector<BodyNode*>& _bns,
        bool _includeStart) const;
 
    void expandToTarget(
        const Target& _start,
        const Target& _target,
        std::vector<BodyNode*>& _bns) const;
 
    std::vector<BodyNode*> climbToTarget(
        BodyNode* _start, BodyNode* _target) const;
 
    std::vector<BodyNode*> climbToCommonRoot(
        const Target& _start, const Target& _target, bool _chain) const;
 
    void trimBodyNodes(
        std::vector<BodyNode*>& _bns, bool _chain, bool _movingUpstream) const;
 
    mutable std::unordered_map<BodyNode*, bool> mMapOfTerminals;
  };
 
  static LinkagePtr create(
      const Criteria& _criteria, const std::string& _name = "Linkage");
 
  LinkagePtr cloneLinkage() const;
 
  LinkagePtr cloneLinkage(const std::string& cloneName) const;
 
  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;
 
  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const override;
 
  bool isAssembled() const;
 
  void reassemble();
 
  void satisfyCriteria();
 
protected:
  Linkage(const Criteria& _criteria, const std::string& _name = "Linkage");
 
  virtual void update();
 
  Criteria mCriteria;
 
  std::vector<WeakBodyNodePtr> mParentBodyNodes;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_LINKAGE_HPP_