MetaSkeleton.hpp

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/*
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 * All rights reserved.
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#ifndef DART_DYNAMICS_METASKELETON_HPP_
#define DART_DYNAMICS_METASKELETON_HPP_
 
#include <vector>
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/common/LockableReference.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/InvalidIndex.hpp"
 
namespace dart {
namespace dynamics {
 
class BodyNode;
class SoftBodyNode;
class PointMass;
class Joint;
class DegreeOfFreedom;
class Marker;
 
class MetaSkeleton : public common::Subject
{
public:
  using NameChangedSignal
      = common::Signal<void(std::shared_ptr<const MetaSkeleton> _skeleton,
                            const std::string& _oldName,
                            const std::string& _newName)>;
 
  MetaSkeleton(const MetaSkeleton&) = delete;
 
  virtual ~MetaSkeleton() = default;
 
  virtual MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const = 0;
  // TODO: In DART7, rename this to clone() and change the current
  // Skeleton::clone() to override it.
 
  MetaSkeletonPtr cloneMetaSkeleton() const;
 
  virtual std::unique_ptr<common::LockableReference> getLockableReference()
  const = 0;
  // TODO: In DART7, rename this to getMutex() and change the current
  // Skeleton::getMutex() to override it.
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual const std::string& setName(const std::string& _name) = 0;
 
  virtual const std::string& getName() const = 0;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual std::size_t getNumBodyNodes() const = 0;
 
  virtual BodyNode* getBodyNode(std::size_t _idx) = 0;
 
  virtual const BodyNode* getBodyNode(std::size_t _idx) const = 0;
 
  virtual BodyNode* getBodyNode(const std::string& name) = 0;
 
  virtual const BodyNode* getBodyNode(const std::string& name) const = 0;
 
  virtual const std::vector<BodyNode*>& getBodyNodes() = 0;
 
  virtual const std::vector<const BodyNode*>& getBodyNodes() const = 0;
 
  virtual std::vector<BodyNode*> getBodyNodes(const std::string& name) = 0;
 
  virtual std::vector<const BodyNode*> getBodyNodes(
      const std::string& name) const = 0;
 
  virtual bool hasBodyNode(const BodyNode* bodyNode) const = 0;
 
  virtual std::size_t getIndexOf(const BodyNode* _bn, bool _warning=true) const = 0;
 
  virtual std::size_t getNumJoints() const = 0;
 
  virtual Joint* getJoint(std::size_t _idx) = 0;
 
  virtual const Joint* getJoint(std::size_t _idx) const = 0;
 
  virtual Joint* getJoint(const std::string& name) = 0;
 
  virtual const Joint* getJoint(const std::string& name) const = 0;
 
  virtual std::vector<Joint*> getJoints() = 0;
 
  virtual std::vector<const Joint*> getJoints() const = 0;
 
  virtual std::vector<Joint*> getJoints(const std::string& name) = 0;
 
  virtual std::vector<const Joint*> getJoints(
      const std::string& name) const = 0;
 
  virtual bool hasJoint(const Joint* joint) const = 0;
 
  virtual std::size_t getIndexOf(const Joint* _joint, bool _warning=true) const = 0;
 
  virtual std::size_t getNumDofs() const = 0;
 
  virtual DegreeOfFreedom* getDof(std::size_t _idx) = 0;
 
  virtual const DegreeOfFreedom* getDof(std::size_t _idx) const = 0;
 
  virtual const std::vector<DegreeOfFreedom*>& getDofs() = 0;
 
  virtual std::vector<const DegreeOfFreedom*> getDofs() const = 0;
 
  virtual std::size_t getIndexOf(const DegreeOfFreedom* _dof,
                            bool _warning=true) const = 0;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setCommand(std::size_t _index, double _command);
 
  double getCommand(std::size_t _index) const;
 
  void setCommands(const Eigen::VectorXd& _commands);
 
  void setCommands(const std::vector<std::size_t>& _indices,
                           const Eigen::VectorXd& _commands);
 
  Eigen::VectorXd getCommands() const;
 
  Eigen::VectorXd getCommands(const std::vector<std::size_t>& _indices) const;
 
  void resetCommands();
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setPosition(std::size_t index, double _position);
 
  double getPosition(std::size_t _index) const;
 
  void setPositions(const Eigen::VectorXd& _positions);
 
  void setPositions(const std::vector<std::size_t>& _indices,
                    const Eigen::VectorXd& _positions);
 
  Eigen::VectorXd getPositions() const;
 
  Eigen::VectorXd getPositions(const std::vector<std::size_t>& _indices) const;
 
  void resetPositions();
 
  void setPositionLowerLimit(std::size_t _index, double _position);
 
  void setPositionLowerLimits(const Eigen::VectorXd& positions);
 
  void setPositionLowerLimits(const std::vector<std::size_t>& indices,
                              const Eigen::VectorXd& positions);
 
  double getPositionLowerLimit(std::size_t _index) const;
 
  Eigen::VectorXd getPositionLowerLimits() const;
 
  Eigen::VectorXd getPositionLowerLimits(
      const std::vector<std::size_t>& indices) const;
 
  void setPositionUpperLimit(std::size_t _index, double _position);
 
  void setPositionUpperLimits(const Eigen::VectorXd& positions);
 
  void setPositionUpperLimits(const std::vector<std::size_t>& indices,
                              const Eigen::VectorXd& positions);
 
  double getPositionUpperLimit(std::size_t _index) const;
 
  Eigen::VectorXd getPositionUpperLimits() const;
 
  Eigen::VectorXd getPositionUpperLimits(
      const std::vector<std::size_t>& indices) const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setVelocity(std::size_t _index, double _velocity);
 
  double getVelocity(std::size_t _index) const;
 
  void setVelocities(const Eigen::VectorXd& _velocities);
 
  void setVelocities(const std::vector<std::size_t>& _indices,
                     const Eigen::VectorXd& _velocities);
 
  Eigen::VectorXd getVelocities() const;
 
  Eigen::VectorXd getVelocities(const std::vector<std::size_t>& _indices) const;
 
  void resetVelocities();
 
  void setVelocityLowerLimit(std::size_t _index, double _velocity);
 
  void setVelocityLowerLimits(const Eigen::VectorXd& velocities);
 
  void setVelocityLowerLimits(const std::vector<std::size_t>& indices,
                              const Eigen::VectorXd& velocities);
 
  double getVelocityLowerLimit(std::size_t _index);
 
  Eigen::VectorXd getVelocityLowerLimits() const;
 
  Eigen::VectorXd getVelocityLowerLimits(
      const std::vector<std::size_t>& indices) const;
 
  void setVelocityUpperLimit(std::size_t _index, double _velocity);
 
  void setVelocityUpperLimits(const Eigen::VectorXd& velocities);
 
  void setVelocityUpperLimits(const std::vector<std::size_t>& indices,
                              const Eigen::VectorXd& velocities);
 
  double getVelocityUpperLimit(std::size_t _index);
 
  Eigen::VectorXd getVelocityUpperLimits() const;
 
  Eigen::VectorXd getVelocityUpperLimits(
      const std::vector<std::size_t>& indices) const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setAcceleration(std::size_t _index, double _acceleration);
 
  double getAcceleration(std::size_t _index) const;
 
  void setAccelerations(const Eigen::VectorXd& _accelerations);
 
  void setAccelerations(const std::vector<std::size_t>& _indices,
                        const Eigen::VectorXd& _accelerations);
 
  Eigen::VectorXd getAccelerations() const;
 
  Eigen::VectorXd getAccelerations(const std::vector<std::size_t>& _indices) const;
 
  void resetAccelerations();
 
  void setAccelerationLowerLimit(std::size_t _index, double _acceleration);
 
  void setAccelerationLowerLimits(const Eigen::VectorXd& accelerations);
 
  void setAccelerationLowerLimits(const std::vector<std::size_t>& indices,
                              const Eigen::VectorXd& accelerations);
 
  double getAccelerationLowerLimit(std::size_t _index) const;
 
  Eigen::VectorXd getAccelerationLowerLimits() const;
 
  Eigen::VectorXd getAccelerationLowerLimits(
      const std::vector<std::size_t>& indices) const;
 
  void setAccelerationUpperLimit(std::size_t _index, double _acceleration);
 
  void setAccelerationUpperLimits(const Eigen::VectorXd& accelerations);
 
  void setAccelerationUpperLimits(const std::vector<std::size_t>& indices,
                              const Eigen::VectorXd& accelerations);
 
  double getAccelerationUpperLimit(std::size_t _index) const;
 
  Eigen::VectorXd getAccelerationUpperLimits() const;
 
  Eigen::VectorXd getAccelerationUpperLimits(
      const std::vector<std::size_t>& indices) const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setForce(std::size_t _index, double _force);
 
  double getForce(std::size_t _index) const;
 
  void setForces(const Eigen::VectorXd& _forces);
 
  void setForces(const std::vector<std::size_t>& _index,
                 const Eigen::VectorXd& _forces);
 
  Eigen::VectorXd getForces() const;
 
  Eigen::VectorXd getForces(const std::vector<std::size_t>& _indices) const;
 
  void resetGeneralizedForces();
 
  void setForceLowerLimit(std::size_t _index, double _force);
 
  void setForceLowerLimits(const Eigen::VectorXd& forces);
 
  void setForceLowerLimits(const std::vector<std::size_t>& indices,
                           const Eigen::VectorXd& forces);
 
  double getForceLowerLimit(std::size_t _index) const;
 
  Eigen::VectorXd getForceLowerLimits() const;
 
  Eigen::VectorXd getForceLowerLimits(
      const std::vector<std::size_t>& indices) const;
 
  void setForceUpperLimit(std::size_t _index, double _force);
 
  void setForceUpperLimits(const Eigen::VectorXd& forces);
 
  void setForceUpperLimits(const std::vector<std::size_t>& indices,
                           const Eigen::VectorXd& forces);
 
  double getForceUpperLimit(std::size_t _index) const;
 
  Eigen::VectorXd getForceUpperLimits() const;
 
  Eigen::VectorXd getForceUpperLimits(
      const std::vector<std::size_t>& indices) const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  Eigen::VectorXd getVelocityChanges() const;
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  void setJointConstraintImpulses(const Eigen::VectorXd& _impulses);
 
  Eigen::VectorXd getJointConstraintImpulses() const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual math::Jacobian getJacobian(const JacobianNode* _node) const = 0;
 
  virtual math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf) const = 0;
 
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;
 
  virtual math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const = 0;
 
  virtual math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf) const = 0;
 
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;
 
  virtual math::Jacobian getWorldJacobian(const JacobianNode* _node) const = 0;
 
  virtual math::Jacobian getWorldJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const = 0;
 
  virtual math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual math::AngularJacobian getAngularJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  math::AngularJacobian getAngularJacobian(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf = Frame::World()) const;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf) const = 0;
 
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;
 
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node) const = 0;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::AngularJacobian getAngularJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual double getMass() const = 0;
 
  virtual const Eigen::MatrixXd& getMassMatrix() const = 0;
 
  virtual const Eigen::MatrixXd& getAugMassMatrix() const = 0;
 
  virtual const Eigen::MatrixXd& getInvMassMatrix() const = 0;
 
  virtual const Eigen::MatrixXd& getInvAugMassMatrix() const = 0;
 
  virtual const Eigen::VectorXd& getCoriolisForces() const = 0;
 
  virtual const Eigen::VectorXd& getGravityForces() const = 0;
 
  virtual const Eigen::VectorXd& getCoriolisAndGravityForces() const = 0;
 
  virtual const Eigen::VectorXd& getExternalForces() const = 0;
 
  virtual const Eigen::VectorXd& getConstraintForces() const = 0;
 
  virtual void clearExternalForces() = 0;
 
  virtual void clearInternalForces() = 0;
 
  double computeLagrangian() const;
 
  DART_DEPRECATED(6.1)
  double getKineticEnergy() const;
 
  virtual double computeKineticEnergy() const = 0;
 
  DART_DEPRECATED(6.1)
  double getPotentialEnergy() const;
 
  virtual double computePotentialEnergy() const = 0;
 
  DART_DEPRECATED(6.0)
  virtual void clearCollidingBodies() = 0;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual Eigen::Vector3d getCOM(
      const Frame* _withRespectTo = Frame::World()) const = 0;
 
  virtual Eigen::Vector6d getCOMSpatialVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual Eigen::Vector3d getCOMLinearVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual Eigen::Vector6d getCOMSpatialAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual Eigen::Vector3d getCOMLinearAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::Jacobian getCOMJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getCOMLinearJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::Jacobian getCOMJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getCOMLinearJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
 
protected:
 
  MetaSkeleton();
 
  //--------------------------------------------------------------------------
  // Signals
  //--------------------------------------------------------------------------
  NameChangedSignal mNameChangedSignal;
 
public:
 
  //--------------------------------------------------------------------------
  // Slot registers
  //--------------------------------------------------------------------------
  common::SlotRegister<NameChangedSignal> onNameChanged;
};
 
} // namespace dynamics
} // namespace dart
 
 
#endif // DART_DYNAMICS_METASKELETON_HPP_