SkeletonAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
 
#include <Eigen/Core>
 
#include "dart/common/Composite.hpp"
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/ProxyAspect.hpp"
#include "dart/common/RequiresAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class Skeleton;
 
namespace detail {
 
//==============================================================================
struct SkeletonAspectProperties
{
  std::string mName;
 
  bool mIsMobile;
 
  Eigen::Vector3d mGravity;
 
  double mTimeStep;
 
  bool mEnabledSelfCollisionCheck;
 
  bool mEnabledAdjacentBodyCheck;
 
  SkeletonAspectProperties(
      const std::string& _name = "Skeleton",
      bool _isMobile = true,
      const Eigen::Vector3d& _gravity = Eigen::Vector3d(0.0, 0.0, -9.81),
      double _timeStep = 0.001,
      bool _enabledSelfCollisionCheck = false,
      bool _enableAdjacentBodyCheck = false);
 
  virtual ~SkeletonAspectProperties() = default;
};
 
//==============================================================================
using BodyNodeStateVector = std::vector<common::Composite::State>;
using BodyNodePropertiesVector = std::vector<common::Composite::Properties>;
using JointStateVector = std::vector<common::Composite::State>;
using JointPropertiesVector = std::vector<common::Composite::Properties>;
 
//==============================================================================
void setAllBodyNodeStates(Skeleton* skel, const BodyNodeStateVector& states);
 
//==============================================================================
BodyNodeStateVector getAllBodyNodeStates(const Skeleton* skel);
 
//==============================================================================
void setAllBodyNodeProperties(
    Skeleton* skel, const BodyNodePropertiesVector& properties);
 
//==============================================================================
BodyNodePropertiesVector getAllBodyNodeProperties(const Skeleton* skel);
 
//==============================================================================
using BodyNodeVectorProxyAspectState = common::ProxyCloneable<
    common::Aspect::State,
    Skeleton,
    BodyNodeStateVector,
    &setAllBodyNodeStates,
    &getAllBodyNodeStates>;
 
//==============================================================================
using BodyNodeVectorProxyAspectProperties = common::ProxyCloneable<
    common::Aspect::Properties,
    Skeleton,
    BodyNodePropertiesVector,
    &setAllBodyNodeProperties,
    &getAllBodyNodeProperties>;
 
//==============================================================================
using BodyNodeVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
    Skeleton,
    BodyNodeVectorProxyAspectState,
    BodyNodeVectorProxyAspectProperties>;
 
//==============================================================================
void setAllJointStates(Skeleton* skel, const JointStateVector& states);
 
//==============================================================================
JointStateVector getAllJointStates(const Skeleton* skel);
 
//==============================================================================
void setAllJointProperties(
    Skeleton* skel, const JointPropertiesVector& properties);
 
//==============================================================================
JointPropertiesVector getAllJointProperties(const Skeleton* skel);
 
//==============================================================================
using JointVectorProxyAspectState = common::ProxyCloneable<
    common::Aspect::State,
    Skeleton,
    JointStateVector,
    &setAllJointStates,
    &getAllJointStates>;
 
//==============================================================================
using JointVectorProxyAspectProperties = common::ProxyCloneable<
    common::Aspect::Properties,
    Skeleton,
    JointPropertiesVector,
    &setAllJointProperties,
    &getAllJointProperties>;
 
//==============================================================================
using JointVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
    Skeleton,
    JointVectorProxyAspectState,
    JointVectorProxyAspectProperties>;
 
//==============================================================================
using SkeletonProxyAspects
    = common::RequiresAspect<BodyNodeVectorProxyAspect, JointVectorProxyAspect>;
 
//==============================================================================
using SkeletonAspectBase = common::EmbedPropertiesOnTopOf<
    Skeleton,
    SkeletonAspectProperties,
    SkeletonProxyAspects>;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_