ConstrainedGroup.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_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_