DegreeOfFreedom.hpp

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#ifndef DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
#define DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
 
#include <memory>
#include <string>
 
#include <Eigen/Core>
 
#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Subject.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class Skeleton;
class Joint;
class BodyNode;
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class DegreeOfFreedom : public virtual common::Subject
{
public:
  friend class Joint;
  template <class>
  friend class GenericJoint;
  friend class Skeleton;
 
  DegreeOfFreedom(const DegreeOfFreedom&) = delete;
 
  const std::string& setName(
      const std::string& _name, bool _preserveName = true);
 
  const std::string& getName() const;
 
  void preserveName(bool _preserve);
 
  bool isNamePreserved() const;
 
  std::size_t getIndexInSkeleton() const;
 
  std::size_t getIndexInTree() const;
 
  std::size_t getIndexInJoint() const;
 
  std::size_t getTreeIndex() const;
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setCommand(double _command);
 
  double getCommand() const;
 
  void resetCommand();
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setPosition(double _position);
 
  double getPosition() const;
 
  void setPositionLimits(double _lowerLimit, double _upperLimit);
 
  void setPositionLimits(const std::pair<double, double>& _limits);
 
  std::pair<double, double> getPositionLimits() const;
 
  void setPositionLowerLimit(double _limit);
 
  double getPositionLowerLimit() const;
 
  void setPositionUpperLimit(double _limit);
 
  double getPositionUpperLimit() const;
 
  bool isCyclic() const;
 
  bool hasPositionLimit() const;
 
  void resetPosition();
 
  void setInitialPosition(double _initial);
 
  double getInitialPosition() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setVelocity(double _velocity);
 
  double getVelocity() const;
 
  void setVelocityLimits(double _lowerLimit, double _upperLimit);
 
  void setVelocityLimits(const std::pair<double, double>& _limits);
 
  std::pair<double, double> getVelocityLimits() const;
 
  void setVelocityLowerLimit(double _limit);
 
  double getVelocityLowerLimit() const;
 
  void setVelocityUpperLimit(double _limit);
 
  double getVelocityUpperLimit() const;
 
  void resetVelocity();
 
  void setInitialVelocity(double _initial);
 
  double getInitialVelocity() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setAcceleration(double _acceleration);
 
  double getAcceleration() const;
 
  void resetAcceleration();
 
  void setAccelerationLimits(double _lowerLimit, double _upperLimit);
 
  void setAccelerationLimits(const std::pair<double, double>& _limits);
 
  std::pair<double, double> getAccelerationLimits() const;
 
  void setAccelerationLowerLimit(double _limit);
 
  double getAccelerationLowerLimit() const;
 
  void setAccelerationUpperLimit(double _limit);
 
  double getAccelerationUpperLimit() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setForce(double _force);
 
  double getForce() const;
 
  void resetForce();
 
  void setForceLimits(double _lowerLimit, double _upperLimit);
 
  void setForceLimits(const std::pair<double, double>& _limits);
 
  std::pair<double, double> getForceLimits() const;
 
  void setForceLowerLimit(double _limit);
 
  double getForceLowerLimit() const;
 
  void setForceUpperLimit(double _limit);
 
  double getForceUpperLimit() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setVelocityChange(double _velocityChange);
 
  double getVelocityChange() const;
 
  void resetVelocityChange();
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setConstraintImpulse(double _impulse);
 
  double getConstraintImpulse() const;
 
  void resetConstraintImpulse();
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setSpringStiffness(double _k);
 
  double getSpringStiffness() const;
 
  void setRestPosition(double _q0);
 
  double getRestPosition() const;
 
  void setDampingCoefficient(double _coeff);
 
  double getDampingCoefficient() const;
 
  void setCoulombFriction(double _friction);
 
  double getCoulombFriction() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  Joint* getJoint();
 
  const Joint* getJoint() const;
 
  SkeletonPtr getSkeleton();
 
  ConstSkeletonPtr getSkeleton() const;
 
  BodyNode* getChildBodyNode();
 
  const BodyNode* getChildBodyNode() const;
 
  BodyNode* getParentBodyNode();
 
  const BodyNode* getParentBodyNode() const;
 
 
protected:
  DegreeOfFreedom(Joint* _joint, std::size_t _indexInJoint);
 
  std::size_t mIndexInJoint;
 
  std::size_t mIndexInSkeleton;
 
  std::size_t mIndexInTree;
 
  Joint* mJoint;
  // Note that we do not need to store BodyNode or Skeleton, because we can
  // access them through this joint pointer. Moreover, we never need to check
  // whether mJoint is nullptr, because only Joints are allowed to create a
  // DegreeOfFreedom and every DegreeOfFreedom is deleted when its Joint is
  // destructed.
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DEGREEOFFREEDOM_HPP_