Group.hpp

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#include "dart/dynamics/ReferentialSkeleton.hpp"
 
#ifndef DART_DYNAMICS_GROUP_HPP_
#define DART_DYNAMICS_GROUP_HPP_
 
namespace dart {
namespace dynamics {
 
class Group : public ReferentialSkeleton
{
public:
 
  static GroupPtr create(
      const std::string& _name = "Group",
      const std::vector<BodyNode*>& _bodyNodes = std::vector<BodyNode*>(),
      bool _includeJoints = true,
      bool _includeDofs = true);
 
  static GroupPtr create(
      const std::string& _name,
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _includeBodyNodes = true,
      bool _includeJoints = true);
 
  static GroupPtr create(
      const std::string& _name,
      const MetaSkeletonPtr& _metaSkeleton);
 
  virtual ~Group() = default;
 
  GroupPtr cloneGroup() const;
 
  GroupPtr cloneGroup(const std::string& cloneName) const;
 
  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;
 
  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(const std::string& cloneName) const override;
 
  void swapBodyNodeIndices(std::size_t _index1, std::size_t _index2);
 
  void swapDofIndices(std::size_t _index1, std::size_t _index2);
 
  bool addComponent(BodyNode* _bn, bool _warning=true);
 
  bool addComponents(const std::vector<BodyNode*>& _bodyNodes,
                      bool _warning=true);
 
  bool removeComponent(BodyNode* _bn, bool _warning=true);
 
  bool removeComponents(const std::vector<BodyNode*>& _bodyNodes,
                        bool _warning=true);
 
  bool addBodyNode(BodyNode* _bn, bool _warning=true);
 
  bool addBodyNodes(const std::vector<BodyNode*>& _bodyNodes,
                    bool _warning=true);
 
  bool removeBodyNode(BodyNode* _bn, bool _warning=true);
 
  bool removeBodyNodes(const std::vector<BodyNode*>& _bodyNodes,
                       bool _warning=true);
 
  bool addJoint(Joint* _joint, bool _addDofs=true, bool _warning=true);
 
  bool addJoints(const std::vector<Joint*>& _joints, bool _addDofs=true,
                 bool _warning=true);
 
  bool removeJoint(Joint* _joint, bool _removeDofs=true, bool _warning=true);
 
  bool removeJoints(const std::vector<Joint*>& _joints, bool _removeDofs=true,
                    bool _warning=true);
 
  bool addDof(DegreeOfFreedom* _dof, bool _addJoint=true, bool _warning=true);
 
  bool addDofs(const std::vector<DegreeOfFreedom*>& _dofs,
               bool _addJoint = true, bool _warning=true);
 
  bool removeDof(DegreeOfFreedom* _dof, bool _cleanupJoint=true,
                 bool _warning=true);
 
  bool removeDofs(const std::vector<DegreeOfFreedom*>& _dofs,
                  bool _cleanupJoint=true, bool _warning=true);
 
protected:
  Group(const std::string& _name,
        const std::vector<BodyNode*>& _bodyNodes,
        bool _includeJoints,
        bool _includeDofs);
 
  Group(const std::string& _name,
        const std::vector<DegreeOfFreedom*>& _dofs,
        bool _includeBodyNodes,
        bool _includeJoints);
 
  Group(const std::string& _name,
        const MetaSkeletonPtr& _metaSkeleton);
};
 
} // dynamics
} // dart
 
#endif // DART_DYNAMICS_GROUP_HPP_