DART 6.7.3
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Node.hpp
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1/*
2 * Copyright (c) 2011-2019, The DART development contributors
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10 * without modification, are permitted provided that the following
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31 */
32
33#ifndef DART_DYNAMICS_DETAIL_NODE_HPP_
34#define DART_DYNAMICS_DETAIL_NODE_HPP_
35
36#include <cassert>
37
38#include "dart/dynamics/Node.hpp"
39
40#include "dart/common/StlHelpers.hpp"
41
42namespace dart {
43namespace dynamics {
44
45//==============================================================================
46template <class NodeType>
47std::size_t AccessoryNode<NodeType>::getIndexInBodyNode() const
48{
49 return static_cast<const NodeType*>(this)->mIndexInBodyNode;
50}
51
52//==============================================================================
53template <class NodeType>
54std::size_t AccessoryNode<NodeType>::getIndexInSkeleton() const
55{
56 return static_cast<const NodeType*>(this)->mIndexInSkeleton;
57}
58
59//==============================================================================
60template <class NodeType>
61std::size_t AccessoryNode<NodeType>::getIndexInTree() const
62{
63 return static_cast<const NodeType*>(this)->mIndexInTree;
64}
65
66//==============================================================================
67template <class NodeType>
68std::size_t AccessoryNode<NodeType>::getTreeIndex() const
69{
70 return static_cast<const NodeType*>(this)->getBodyNodePtr()->getTreeIndex();
71}
72
73//==============================================================================
74template <class NodeType>
75void AccessoryNode<NodeType>::remove()
76{
77 return static_cast<NodeType*>(this)->stageForRemoval();
78}
79
80//==============================================================================
81template <class NodeType>
82void AccessoryNode<NodeType>::reattach()
83{
84 static_cast<NodeType*>(this)->attach();
85}
86
87} // namespace dynamics
88} // namespace dart
89
90//==============================================================================
91// Macros for specializing Nodes within BodyNodes
92//==============================================================================
93#define DART_ENABLE_NODE_SPECIALIZATION() \
94 public: \
95 template <class T> std::size_t getNumNodes() const { return dart::dynamics::BodyNode::getNumNodes<T>(); } \
96 template <class T> T* getNode(std::size_t index) { return dart::dynamics::BodyNode::getNode<T>(index); } \
97 template <class T> const T* getNode(std::size_t index) const { return dart::dynamics::BodyNode::getNode<T>(index); }
98
99//==============================================================================
100#define DETAIL_DART_INSTANTIATE_SPECIALIZED_NODE( NodeName, it ) \
101 mNodeMap[typeid( NodeName )] = std::vector<dart::dynamics::Node*>(); \
102 it = mNodeMap.find(typeid( NodeName ));
103
104//==============================================================================
105#define DART_INSTANTIATE_SPECIALIZED_NODE_IRREGULAR( NodeName, PluralName ) \
106 DETAIL_DART_INSTANTIATE_SPECIALIZED_NODE( NodeName, m ## PluralName ## Iterator )
107
108//==============================================================================
109#define DART_INSTANTIATE_SPECALIZED_NODE( NodeName ) \
110 DART_INSTANTIATE_SPECIALIZED_NODE_IRREGULAR( NodeName, NodeName ## s )
111
112//==============================================================================
113#define DETAIL_DART_SPECIALIZED_NODE_INLINE( NodeName, PluralName, it ) \
114 private: dart::dynamics::BodyNode::NodeMap::iterator it ; public: \
115 \
116 inline std::size_t getNum ## PluralName () const \
117 { return it->second.size(); } \
118 \
119 inline NodeName * get ## NodeName (std::size_t index) \
120 { return static_cast< NodeName *>(getVectorObjectIfAvailable(index, it->second)); } \
121 \
122 inline const NodeName * get ## NodeName (std::size_t index) const \
123 { return static_cast<const NodeName *>(getVectorObjectIfAvailable(index, it->second)); }
124
125//==============================================================================
126#define DART_SPECIALIZED_NODE_INLINE_IRREGULAR( NodeName, PluralName ) \
127 DETAIL_DART_SPECIALIZED_NODE_INLINE( NodeName, PluralName, m ## PluralName ## Iterator )
128
129//==============================================================================
130#define DART_SPECIALIZED_NODE_INTERNAL( NodeName ) \
131 DART_SPECIALIZED_NODE_INLINE_IRREGULAR( NodeName, NodeName ## s )
132
133//==============================================================================
134#define DETAIL_DART_SPECIALIZED_NODE_DECLARE( NodeName, PluralName, it ) \
135 private: dart::dynamics::BodyNode::NodeMap::iterator it ; public:\
136 std::size_t getNum ## PluralName() const;\
137 NodeName * get ## NodeName (std::size_t index);\
138 const NodeName * get ## NodeName(std::size_t index) const;
139
140//==============================================================================
141#define DART_SPECIALIZED_NODE_DECLARE_IRREGULAR( NodeName, PluralName )\
142 DETAIL_DART_SPECIALIZED_NODE_DECLARE( NodeName, PluralName, m ## PluralName ## Iterator )
143
144//==============================================================================
145#define DART_SPECIALIZED_NODE_DECLARE( NodeName )\
146 DART_SPECIALIZED_NODE_DECLARE_IRREGULAR( NodeName, NodeName ## s )
147
148//==============================================================================
149#define DETAIL_DART_SPECIALIZED_NODE_DEFINE( BodyNodeType, NodeName, PluralName, it )\
150 std::size_t BodyNodeType :: getNum ## PluralName () const\
151 { return it->second.size(); }\
152 \
153 NodeName * BodyNodeType :: get ## NodeName (std::size_t index)\
154 { return static_cast<NodeName *>(getVectorObjectIfAvailable(index, it->second)); }\
155 \
156 const NodeName * BodyNodeType :: get ## NodeName (std::size_t index) const\
157 { return static_cast<const NodeName *>(getVectorObjectIfAvailable(index, it->second)); }
158
159//==============================================================================
160#define DART_SPECIALIZED_NODE_DEFINE_IRREGULAR( BodyNodeType, NodeName, PluralName )\
161 DETAIL_DART_SPECIALIZED_NODE_DEFINE( BodyNodeType, NodeName, PluralName, m ## PluralName ## Iterator )
162
163//==============================================================================
164#define DART_SPECIALIZED_NODE_DEFINE( BodyNodeType, NodeName )\
165 DART_SPECIALIZED_NODE_DEFINE_IRREGULAR( BodyNodeType, NodeName, NodeName ## s )
166
167//==============================================================================
168#define DETAIL_DART_SPECIALIZED_NODE_TEMPLATE( BodyNodeType, NodeName, PluralName ) \
169 template <> inline std::size_t BodyNodeType :: getNumNodes< NodeName >() const { return getNum ## PluralName (); } \
170 template <> inline NodeName * BodyNodeType :: getNode< NodeName >(std::size_t index) { return get ## NodeName (index); } \
171 template <> inline const NodeName * BodyNodeType :: getNode< NodeName >(std::size_t index) const { return get ## NodeName (index); }
172
173//==============================================================================
174#define DART_SPECIALIZED_NODE_TEMPLATE_IRREGULAR( BodyNodeType, NodeName, PluralName ) \
175 DETAIL_DART_SPECIALIZED_NODE_TEMPLATE( BodyNodeType, NodeName, PluralName )
176
177//==============================================================================
178#define DART_SPECIALIZED_NODE_TEMPLATE( BodyNodeType, NodeName ) \
179 DART_SPECIALIZED_NODE_TEMPLATE_IRREGULAR( BodyNodeType, NodeName, NodeName ## s )
180
181//==============================================================================
182// Macros for specializing Nodes within Skeletons
183//==============================================================================
184#define DART_SKEL_ENABLE_NODE_SPECIALIZATION() \
185 public: \
186 template <class T> std::size_t getNumNodes() const { return dart::dynamics::Skeleton::getNumNodes<T>(); } \
187 template <class T> std::size_t getNumNodes(std::size_t treeIndex) const { return dart::dynamics::Skeleton::getNumNodes<T>(treeIndex); } \
188 template <class T> T* getNode(std::size_t index) { return dart::dynamics::Skeleton::getNode<T>(index); } \
189 template <class T> T* getNode(std::size_t nodeIdx, std::size_t treeIndex) { return dart::dynamics::Skeleton::getNode<T>(nodeIdx, treeIndex); } \
190 template <class T> const T* getNode(std::size_t index) const { return dart::dynamics::Skeleton::getNode<T>(index); } \
191 template <class T> const T* getNode(std::size_t nodeIdx, std::size_t treeIndex) const { return dart::dynamics::Skeleton::getNode<T>(nodeIdx, treeIndex); } \
192 template <class T> T* getNode(const std::string& name) { return dart::dynamics::Skeleton::getNode<T>(name); } \
193 template <class T> const T* getNode(const std::string& name) const { return dart::dynamics::Skeleton::getNode<T>(name); }
194
195//==============================================================================
196#define DART_SKEL_INSTANTIATE_SPECIALIZED_NODE_IRREGULAR( NodeName, PluralName ) \
197 mSpecializedTreeNodes[typeid( NodeName )] = &mTree ## PluralName ## Iterators; \
198 mSkelCache.mNodeMap[typeid( NodeName )] = std::vector<dart::dynamics::Node*>(); \
199 m ## PluralName ## Iterator = mSkelCache.mNodeMap.find(typeid( NodeName )); \
200 mNodeNameMgrMap[typeid( NodeName )] = dart::common::NameManager<Node*>( \
201 std::string("Skeleton::") + #NodeName + " | " + mAspectProperties.mName ); \
202 mNameMgrFor ## PluralName = &mNodeNameMgrMap.find(typeid( NodeName) )->second;
203
204//==============================================================================
205#define DART_SKEL_INSTANTIATE_SPECIALIZED_NODE( NodeName ) \
206 DART_SKEL_INSTANTIATE_SPECIALIZED_NODE_IRREGULAR( NodeName, NodeName ## s );
207
208//==============================================================================
209#define DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, func) \
210 if(treeIndex >= treeIts.size()) \
211 { dterr << "[" << #func << "] Requesting an invalid tree (" << treeIndex << "). " \
212 << "The number of trees in this Skeleton is: " << treeIts.size() << "\n"; \
213 assert(false); return 0; }
214
215//==============================================================================
216#define DETAIL_DART_SKEL_SPECIALIZED_NODE_INLINE( NodeName, PluralName, skelIt, treeIts, NameMgr ) \
217 private: \
218 dart::dynamics::Skeleton::NodeMap::iterator skelIt; \
219 std::vector<dart::dynamics::Skeleton::NodeMap::iterator> treeIts; \
220 dart::common::NameManager<dart::dynamics::Node*>* NameMgr; \
221 public: \
222 inline std::size_t getNum ## PluralName () const \
223 { return skelIt->second.size(); } \
224 inline std::size_t getNum ## PluralName (std::size_t treeIndex) const \
225 { DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, getNum ## PluralName); \
226 treeIts [treeIndex]->second.size(); } \
227 \
228 inline NodeName * get ## NodeName (std::size_t index) \
229 { return static_cast< NodeName *>(getVectorObjectIfAvailable(index, skelIt ->second)); } \
230 inline NodeName * get ## NodeName (std::size_t treeIndex, std::size_t nodeIndex) \
231 { DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, get ## NodeName); \
232 return static_cast< NodeName *>(getVectorObjectIfAvailable(nodeIndex, treeIts[treeIndex]->second)); } \
233 \
234 inline const NodeName * get ## NodeName (std::size_t index) const \
235 { return static_cast<const NodeName *>(getVectorObjectIfAvailable(index, skelIt ->second)); } \
236 inline const NodeName * get ## NodeName (std::size_t treeIndex, std::size_t nodeIndex) const \
237 { DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, get ## NodeName); \
238 return static_cast<const NodeName *>(getVectorObjectIfAvailable(nodeIndex, treeIts[treeIndex]->second)); } \
239 \
240 inline NodeName * get ## NodeName (const std::string& name) \
241 { return static_cast< NodeName *>(NameMgr->getObject(name)); } \
242 inline const NodeName * get ## NodeName (const std::string& name) const \
243 { return static_cast<const NodeName *>(NameMgr->getObject(name)); }
244
245//==============================================================================
246#define DART_SKEL_SPECIALIZED_NODE_INLINE_IRREGULAR( NodeName, PluralName ) \
247 DETAIL_DART_SKEL_SPECIALIZED_NODE_INLINE( NodeName, PluralName, m ## PluralName ## Iterator, mTree ## PluralName ## Iterators, mNameMgrFor ## PluralName );
248
249//==============================================================================
250#define DART_SKEL_SPECIALIZED_NODE_INLINE( NodeName ) \
251 DART_SKEL_SPECIALIZED_NODE_INLINE_IRREGULAR( NodeName, NodeName ## s);
252
253//==============================================================================
254#define DETAIL_DART_SKEL_SPECIALIZED_NODE_DECLARE( NodeName, PluralName, skelIt, treeIts, NameMgr ) \
255 private:\
256 dart::dynamics::Skeleton::NodeMap::iterator skelIt; \
257 std::vector<dart::dynamics::Skeleton::NodeMap::iterator> treeIts; \
258 dart::common::NameManager<dart::dynamics::Node*>* NameMgr; \
259 public: \
260 std::size_t getNum ## PluralName () const; \
261 \
262 std::size_t getNum ## PluralName (std::size_t treeIndex) const; \
263 \
264 NodeName * get ## NodeName (std::size_t index); \
265 \
266 NodeName * get ## NodeName (std::size_t treeIndex, std::size_t nodeIndex); \
267 \
268 const NodeName * get ## NodeName (std::size_t index) const; \
269 \
270 const NodeName * get ## NodeName (std::size_t treeIndex, std::size_t nodeIndex) const; \
271 \
272 NodeName * get ## NodeName (const std::string& name); \
273 \
274 const NodeName * get ## NodeName (const std::string& name) const;
275
276//==============================================================================
277#define DART_SKEL_SPECIALIZED_NODE_DECLARE_IRREGULAR( NodeName, PluralName )\
278 DETAIL_DART_SKEL_SPECIALIZED_NODE_DECLARE( NodeName, PluralName, m ## PluralName ## Iterator, mTree ## PluralName ## Iterators, mNameMgrFor ## PluralName );
279
280//==============================================================================
281#define DART_SKEL_SPECIALIZED_NODE_DECLARE( NodeName )\
282 DART_SKEL_SPECIALIZED_NODE_DECLARE_IRREGULAR( NodeName, NodeName ## s );
283
284//==============================================================================
285#define DETAIL_DART_SKEL_SPECIALIZED_NODE_DEFINE( SkeletonType, NodeName, PluralName, skelIt, treeIts, NameMgr )\
286 std::size_t SkeletonType :: getNum ## PluralName () const \
287 { return skelIt->second.size(); } \
288 std::size_t SkeletonType :: getNum ## PluralName (std::size_t treeIndex) const \
289 { DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, getNum ## PluralName); \
290 return treeIts [treeIndex]->second.size(); } \
291 \
292 NodeName * SkeletonType :: get ## NodeName (std::size_t index) \
293 { return static_cast< NodeName *>(getVectorObjectIfAvailable(index, skelIt ->second)); } \
294 NodeName * SkeletonType :: get ## NodeName (std::size_t treeIndex, std::size_t nodeIndex) \
295 { DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, get ## NodeName); \
296 return static_cast< NodeName *>(getVectorObjectIfAvailable(nodeIndex, treeIts[treeIndex]->second)); } \
297 \
298 const NodeName * SkeletonType :: get ## NodeName (std::size_t index) const \
299 { return static_cast<const NodeName *>(getVectorObjectIfAvailable(index, skelIt ->second)); } \
300 const NodeName * SkeletonType :: get ## NodeName (std::size_t treeIndex, std::size_t nodeIndex) const \
301 { DETAIL_DART_WARN_TREE_INDEX(treeIts, treeIndex, get ## NodeName); \
302 return static_cast<const NodeName *>(getVectorObjectIfAvailable(nodeIndex, treeIts[treeIndex]->second)); } \
303 \
304 NodeName * SkeletonType :: get ## NodeName (const std::string& name) \
305 { return static_cast< NodeName *>(NameMgr->getObject(name)); } \
306 const NodeName * SkeletonType :: get ## NodeName (const std::string& name) const \
307 { return static_cast<const NodeName *>(NameMgr->getObject(name)); }
308
309//==============================================================================
310#define DART_SKEL_SPECIALIZED_NODE_DEFINED_IRREGULAR( SkeletonType, NodeName, PluralName )\
311 DETAIL_DART_SKEL_SPECIALIZED_NODE_DEFINE( SkeletonType, NodeName, PluralName, m ## PluralName ## Iterator, mTree ## PluralName ## Iterators, mNameMgrFor ## PluralName );
312
313//==============================================================================
314#define DART_SKEL_SPECIALIZED_NODE_DEFINE( SkeletonType, NodeName )\
315 DART_SKEL_SPECIALIZED_NODE_DEFINED_IRREGULAR( SkeletonType, NodeName, NodeName ## s );
316
317//==============================================================================
318#define DETAIL_DART_SKEL_SPECIALIZED_NODE_TEMPLATE( SkelType, NodeName, PluralName ) \
319 template <> inline std::size_t SkelType :: getNumNodes< NodeName >() const { return getNum ## PluralName (); } \
320 template <> inline std::size_t SkelType :: getNumNodes< NodeName >(std::size_t index) const { return getNum ## PluralName(index); } \
321 template <> inline NodeName* SkelType :: getNode< NodeName >(std::size_t index) { return get ## NodeName (index); } \
322 template <> inline NodeName* SkelType :: getNode< NodeName >(std::size_t treeIndex, std::size_t nodeIndex) { return get ## NodeName(treeIndex, nodeIndex); } \
323 template <> inline const NodeName* SkelType :: getNode< NodeName >(std::size_t index) const { return get ## NodeName (index); } \
324 template <> inline const NodeName* SkelType :: getNode< NodeName >(std::size_t treeIndex, std::size_t nodeIndex) const { return get ## NodeName(treeIndex, nodeIndex); } \
325 template <> inline NodeName* SkelType::getNode< NodeName >(const std::string& name) { return get ## NodeName (name); } \
326 template <> inline const NodeName* SkelType::getNode< NodeName >(const std::string& name) const { return get ## NodeName (name); }
327
328//==============================================================================
329#define DART_SKEL_SPECIALIZED_NODE_TEMPLATE_IRREGULAR( SkelType, NodeName, PluralName ) \
330 DETAIL_DART_SKEL_SPECIALIZED_NODE_TEMPLATE( SkelType, NodeName, PluralName )
331
332//==============================================================================
333#define DART_SKEL_SPECIALIZED_NODE_TEMPLATE( SkelType, NodeName ) \
334 DART_SKEL_SPECIALIZED_NODE_TEMPLATE_IRREGULAR( SkelType, NodeName, NodeName ## s );
335
336
337#endif // DART_DYNAMICS_DETAIL_NODE_HPP_
dart::dynamics::AccessoryNode::getTreeIndex
std::size_t getTreeIndex() const
Get the index of this Node's tree within its Skeleton.
Definition Node.hpp:68
dart::dynamics::AccessoryNode::getIndexInBodyNode
std::size_t getIndexInBodyNode() const
Get the index of this Node within its BodyNode.
Definition Node.hpp:47
dart::dynamics::AccessoryNode::getIndexInSkeleton
std::size_t getIndexInSkeleton() const
Get the index of this Node within its Skeleton.
Definition Node.hpp:54
dart::dynamics::AccessoryNode::remove
void remove()
Stage the Node for removal.
Definition Node.hpp:75
dart::dynamics::AccessoryNode::reattach
void reattach()
Undo the effectos of calling remove().
Definition Node.hpp:82
dart::dynamics::AccessoryNode::getIndexInTree
std::size_t getIndexInTree() const
Get the index of this Node within its tree.
Definition Node.hpp:61
dart
Definition BulletCollisionDetector.cpp:63