FreeJoint.hpp

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#ifndef DART_DYNAMICS_FREEJOINT_HPP_
#define DART_DYNAMICS_FREEJOINT_HPP_
 
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class FreeJoint : public GenericJoint<math::SE3Space>
{
public:
 
  friend class Skeleton;
 
  using Base = GenericJoint<math::SE3Space>;
 
  struct Properties : Base::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
 
    Properties(const Base::Properties& properties = Base::Properties());
 
    virtual ~Properties() = default;
  };
 
  FreeJoint(const FreeJoint&) = delete;
 
  virtual ~FreeJoint();
 
  Properties getFreeJointProperties() const;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;
 
  static Eigen::Vector6d convertToPositions(const Eigen::Isometry3d& _tf);
 
  static Eigen::Isometry3d convertToTransform(const Eigen::Vector6d& _positions);
 
  static void setTransform(Joint* joint,
                           const Eigen::Isometry3d& tf,
                           const Frame* withRespectTo = Frame::World());
 
  static void setTransform(BodyNode* bodyNode,
                           const Eigen::Isometry3d& tf,
                           const Frame* withRespectTo = Frame::World());
 
  static void setTransform(Skeleton* skeleton,
                           const Eigen::Isometry3d& tf,
                           const Frame* withRespectTo = Frame::World(),
                           bool applyToAllRootBodies = true);
 
  void setSpatialMotion(
      const Eigen::Isometry3d* newTransform,
      const Frame* withRespectTo,
      const Eigen::Vector6d* newSpatialVelocity,
      const Frame* velRelativeTo,
      const Frame* velInCoordinatesOf,
      const Eigen::Vector6d* newSpatialAcceleration,
      const Frame* accRelativeTo,
      const Frame* accInCoordinatesOf);
 
  void setRelativeTransform(const Eigen::Isometry3d& newTransform);
 
  void setTransform(const Eigen::Isometry3d& newTransform,
                    const Frame* withRespectTo = Frame::World());
 
  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity);
 
  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
                                  const Frame* inCoordinatesOf);
 
  void setSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
                          const Frame* relativeTo,
                          const Frame* inCoordinatesOf);
 
  void setLinearVelocity(const Eigen::Vector3d& newLinearVelocity,
                         const Frame* relativeTo = Frame::World(),
                         const Frame* inCoordinatesOf = Frame::World());
 
  void setAngularVelocity(const Eigen::Vector3d& newAngularVelocity,
                          const Frame* relativeTo = Frame::World(),
                          const Frame* inCoordinatesOf = Frame::World());
 
  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration);
 
  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration,
      const Frame* inCoordinatesOf);
 
  void setSpatialAcceleration(const Eigen::Vector6d& newSpatialAcceleration,
                              const Frame* relativeTo,
                              const Frame* inCoordinatesOf);
 
  void setLinearAcceleration(const Eigen::Vector3d& newLinearAcceleration,
                             const Frame* relativeTo = Frame::World(),
                             const Frame* inCoordinatesOf = Frame::World());
 
  void setAngularAcceleration(const Eigen::Vector3d& newAngularAcceleration,
                              const Frame* relativeTo = Frame::World(),
                              const Frame* inCoordinatesOf = Frame::World());
 
  // Documentation inherited
  Eigen::Matrix6d getRelativeJacobianStatic(
      const Eigen::Vector6d& _positions) const override;
 
  // Documentation inherited
  Eigen::Vector6d getPositionDifferencesStatic(
      const Eigen::Vector6d& _q2, const Eigen::Vector6d& _q1) const override;
 
protected:
 
  FreeJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using Base::getRelativeJacobianStatic;
 
  // Documentation inherited
  void integratePositions(double _dt) override;
 
  // Documentation inherited
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool _mandatory = true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
 
protected:
 
  const Eigen::Isometry3d& getQ() const;
 
  mutable Eigen::Isometry3d mQ;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_FREEJOINT_HPP_