Entity.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_ENTITY_HPP_
#define DART_DYNAMICS_ENTITY_HPP_
 
#include <string>
#include <vector>
 
#include <Eigen/Core>
 
#include "dart/common/Composite.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/dynamics/Shape.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class Frame;
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Entity : public virtual common::Subject
{
public:
  friend class Frame;
 
  using EntitySignal = common::Signal<void(const Entity*)>;
  using FrameChangedSignal = common::Signal<void(
      const Entity*, const Frame* _oldFrame, const Frame* _newFrame)>;
  using NameChangedSignal = common::Signal<void(
      const Entity*, const std::string& _oldName, const std::string& _newName)>;
 
  explicit Entity(Frame* _refFrame, bool _quiet);
 
  Entity();
 
  Entity(const Entity&) = delete;
 
  virtual ~Entity();
 
  virtual const std::string& setName(const std::string& _name) = 0;
 
  virtual const std::string& getName() const = 0;
 
  Frame* getParentFrame();
 
  const Frame* getParentFrame() const;
 
  bool descendsFrom(const Frame* _someFrame) const;
 
  bool isFrame() const;
 
  bool isQuiet() const;
 
  DART_DEPRECATED(6.2)
  virtual void notifyTransformUpdate();
 
  virtual void dirtyTransform();
 
  bool needsTransformUpdate() const;
 
  DART_DEPRECATED(6.2)
  virtual void notifyVelocityUpdate();
 
  virtual void dirtyVelocity();
 
  bool needsVelocityUpdate() const;
 
  DART_DEPRECATED(6.2)
  virtual void notifyAccelerationUpdate();
 
  virtual void dirtyAcceleration();
 
  bool needsAccelerationUpdate() const;
 
protected:
  enum ConstructFrameTag
  {
    ConstructFrame
  };
 
  explicit Entity(ConstructFrameTag);
 
  enum ConstructAbstractTag
  {
    ConstructAbstract
  };
 
  explicit Entity(ConstructAbstractTag);
 
  virtual void changeParentFrame(Frame* _newParentFrame);
 
protected:
  Frame* mParentFrame;
 
  mutable bool mNeedTransformUpdate;
  // TODO(JS): Rename this to mIsTransformDirty in DART 7
 
  mutable bool mNeedVelocityUpdate;
  // TODO(JS): Rename this to mIsVelocityDirty in DART 7
 
  mutable bool mNeedAccelerationUpdate;
  // TODO(JS): Rename this to mIsAccelerationDirty in DART 7
 
  FrameChangedSignal mFrameChangedSignal;
 
  NameChangedSignal mNameChangedSignal;
 
  EntitySignal mTransformUpdatedSignal;
 
  EntitySignal mVelocityChangedSignal;
 
  EntitySignal mAccelerationChangedSignal;
 
public:
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  common::SlotRegister<FrameChangedSignal> onFrameChanged;
 
  common::SlotRegister<NameChangedSignal> onNameChanged;
 
  common::SlotRegister<EntitySignal> onTransformUpdated;
 
  common::SlotRegister<EntitySignal> onVelocityChanged;
 
  common::SlotRegister<EntitySignal> onAccelerationChanged;
 
private:
  const bool mAmQuiet;
 
  bool mAmFrame;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Detachable : public virtual Entity
{
public:
  explicit Detachable(Frame* _refFrame, bool _quiet);
 
  virtual void setParentFrame(Frame* _newParentFrame);
 
protected:
  Detachable();
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_ENTITY_HPP_