FixedJacobianNode.hpp

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#ifndef DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
#define DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
 
#include "dart/dynamics/detail/FixedJacobianNode.hpp"
 
namespace dart {
namespace dynamics {
 
class FixedJacobianNode :
    public detail::FixedJacobianNodeCompositeBase,
    public AccessoryNode<FixedJacobianNode>
{
public:
 
  void setRelativeTransform(const Eigen::Isometry3d& newRelativeTf) override;
 
  // Documentation inherited
  bool dependsOn(std::size_t _genCoordIndex) const override;
 
  // Documentation inherited
  std::size_t getNumDependentGenCoords() const override;
 
  // Documentation inherited
  std::size_t getDependentGenCoordIndex(std::size_t _arrayIndex) const override;
 
  // Documentation inherited
  const std::vector<std::size_t>& getDependentGenCoordIndices() const override;
 
  // Documentation inherited
  std::size_t getNumDependentDofs() const override;
 
  // Documentation inherited
  DegreeOfFreedom* getDependentDof(std::size_t _index) override;
 
  // Documentation inherited
  const DegreeOfFreedom* getDependentDof(std::size_t _index) const override;
 
  // Documentation inherited
  const std::vector<DegreeOfFreedom*>& getDependentDofs() override;
 
  // Documentation inherited
  const std::vector<const DegreeOfFreedom*>& getDependentDofs() const override;
 
  // Documentation inherited
  const std::vector<const DegreeOfFreedom*> getChainDofs() const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  const math::Jacobian& getJacobian() const override final;
 
  // Prevent the inherited getJacobian functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getJacobian;
 
  // Documentation inherited
  const math::Jacobian& getWorldJacobian() const override final;
 
  // Prevent the inherited getWorldJacobian functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getWorldJacobian;
 
  // Documentation inherited
  const math::Jacobian& getJacobianSpatialDeriv() const override final;
 
  // Prevent the inherited getJacobianSpatialDeriv functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getJacobianSpatialDeriv;
 
  // Documentation inherited
  const math::Jacobian& getJacobianClassicDeriv() const override final;
 
  // Prevent the inherited getJacobianClassicDeriv functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getJacobianClassicDeriv;
 
 
protected:
 
  FixedJacobianNode(BodyNode* parent, const Eigen::Isometry3d& transform);
 
  FixedJacobianNode(const std::tuple<BodyNode*, Eigen::Isometry3d>& args);
 
  void updateBodyJacobian() const;
 
  void updateWorldJacobian() const;
 
  void updateBodyJacobianSpatialDeriv() const;
 
  void updateWorldJacobianClassicDeriv() const;
 
  struct Cache
  {
    math::Jacobian mBodyJacobian;
 
    math::Jacobian mWorldJacobian;
 
    math::Jacobian mBodyJacobianSpatialDeriv;
 
    math::Jacobian mWorldJacobianClassicDeriv;
 
    // To get byte-aligned Eigen vectors
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
 
  mutable Cache mCache;
 
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_