SimpleFrame.hpp

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#ifndef DART_DYNAMICS_SIMPLEFRAME_HPP_
#define DART_DYNAMICS_SIMPLEFRAME_HPP_
 
#include "dart/dynamics/ShapeNode.hpp"
 
namespace dart {
namespace dynamics {
 
class SimpleFrame : public Detachable, public ShapeFrame
{
public:
 
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SimpleFrame)
 
  
  explicit SimpleFrame(Frame* _refFrame,
    const std::string& _name = "simple_frame",
    const Eigen::Isometry3d& _relativeTransform = Eigen::Isometry3d::Identity());
 
  SimpleFrame(const SimpleFrame& _otherFrame, Frame* _refFrame = Frame::World());
 
  virtual ~SimpleFrame();
 
  // Documentation inherited
  const std::string& setName(const std::string& _name) override;
 
  // Documentation inherited
  const std::string& getName() const override;
 
  std::shared_ptr<SimpleFrame> clone(Frame* _refFrame = Frame::World()) const;
 
  void copy(const Frame& _otherFrame, Frame* _refFrame = Frame::World(),
            bool _copyProperties=true);
 
  void copy(const Frame* _otherFrame, Frame* _refFrame = Frame::World(),
            bool _copyProperties=true);
 
  SimpleFrame& operator=(const SimpleFrame& _otherFrame);
 
  std::shared_ptr<SimpleFrame> spawnChildSimpleFrame(
      const std::string& name = "SimpleFrame",
      const Eigen::Isometry3d& relativeTransform
          = Eigen::Isometry3d::Identity());
 
  //--------------------------------------------------------------------------
  // Transform
  //--------------------------------------------------------------------------
 
  void setRelativeTransform(const Eigen::Isometry3d& _newRelTransform);
 
  void setRelativeTranslation(const Eigen::Vector3d& _newTranslation);
 
  void setRelativeRotation(const Eigen::Matrix3d& _newRotation);
 
  void setTransform(const Eigen::Isometry3d& _newTransform,
                    const Frame* _withRespectTo = Frame::World());
 
  void setTranslation(const Eigen::Vector3d& _newTranslation,
                      const Frame* _withRespectTo = Frame::World());
 
  void setRotation(const Eigen::Matrix3d& _newRotation,
                   const Frame* _withRespectTo = Frame::World());
 
  // Documentation inherited
  const Eigen::Isometry3d& getRelativeTransform() const override;
 
  //--------------------------------------------------------------------------
  // Velocity
  //--------------------------------------------------------------------------
 
  void setRelativeSpatialVelocity(const Eigen::Vector6d& _newSpatialVelocity);
 
  void setRelativeSpatialVelocity(const Eigen::Vector6d& _newSpatialVelocity,
                                  const Frame* _inCoordinatesOf);
 
  // Documentation inherited
  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;
 
  //--------------------------------------------------------------------------
  // Acceleration
  //--------------------------------------------------------------------------
 
  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& _newSpatialAcceleration);
 
  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& _newSpatialAcceleration,
      const Frame* _inCoordinatesOf);
 
  // Documentation inherited
  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;
 
  // Documentation inherited
  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;
 
  // Documentation inherited
  const Eigen::Vector6d& getPartialAcceleration() const override;
 
  //--------------------------------------------------------------------------
  // Classic Method
  //--------------------------------------------------------------------------
 
  void setClassicDerivatives(
      const Eigen::Vector3d& _linearVelocity      = Eigen::Vector3d::Zero(),
      const Eigen::Vector3d& _angularVelocity     = Eigen::Vector3d::Zero(),
      const Eigen::Vector3d& _linearAcceleration  = Eigen::Vector3d::Zero(),
      const Eigen::Vector3d& _angularAcceleration = Eigen::Vector3d::Zero());
 
protected:
 
  std::string mName;
 
  Eigen::Isometry3d mRelativeTf;
 
  Eigen::Vector6d mRelativeVelocity;
 
  Eigen::Vector6d mRelativeAcceleration;
 
  mutable Eigen::Vector6d mPartialAcceleration;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
};
 
} // namespace dart
} // namespace dynamics
 
#endif // DART_DYNAMICS_SIMPLEFRAME_HPP_