DART  6.7.3
DegreeOfFreedom.hpp
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32 
33 #ifndef DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
34 #define DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
35 
36 #include <string>
37 #include <memory>
38 #include <Eigen/Core>
39 
40 #include "dart/common/Subject.hpp"
42 
43 namespace dart {
44 namespace dynamics {
45 
46 class Skeleton;
47 class Joint;
48 class BodyNode;
49 
52 class DegreeOfFreedom : public virtual common::Subject
53 {
54 public:
55 
56  friend class Joint;
57  template<class> friend class GenericJoint;
58  friend class Skeleton;
59 
60  DegreeOfFreedom(const DegreeOfFreedom&) = delete;
61 
68  const std::string& setName(const std::string& _name, bool _preserveName=true);
69 
85  const std::string& getName() const;
86 
91  void preserveName(bool _preserve);
92 
94  bool isNamePreserved() const;
95 
97  std::size_t getIndexInSkeleton() const;
98 
100  std::size_t getIndexInTree() const;
101 
103  std::size_t getIndexInJoint() const;
104 
106  std::size_t getTreeIndex() const;
107 
108  //----------------------------------------------------------------------------
110  //----------------------------------------------------------------------------
111 
113  void setCommand(double _command);
114 
116  double getCommand() const;
117 
119  void resetCommand();
120 
122 
123  //----------------------------------------------------------------------------
125  //----------------------------------------------------------------------------
126 
128  void setPosition(double _position);
129 
131  double getPosition() const;
132 
134  void setPositionLimits(double _lowerLimit, double _upperLimit);
135 
137  void setPositionLimits(const std::pair<double,double>& _limits);
138 
140  std::pair<double,double> getPositionLimits() const;
141 
143  void setPositionLowerLimit(double _limit);
144 
146  double getPositionLowerLimit() const;
147 
149  void setPositionUpperLimit(double _limit);
150 
152  double getPositionUpperLimit() const;
153 
158  bool isCyclic() const;
159 
161  bool hasPositionLimit() const;
162 
164  void resetPosition();
165 
167  void setInitialPosition(double _initial);
168 
170  double getInitialPosition() const;
171 
173 
174  //----------------------------------------------------------------------------
176  //----------------------------------------------------------------------------
177 
179  void setVelocity(double _velocity);
180 
182  double getVelocity() const;
183 
185  void setVelocityLimits(double _lowerLimit, double _upperLimit);
186 
188  void setVelocityLimits(const std::pair<double,double>& _limits);
189 
191  std::pair<double,double> getVelocityLimits() const;
192 
194  void setVelocityLowerLimit(double _limit);
195 
197  double getVelocityLowerLimit() const;
198 
200  void setVelocityUpperLimit(double _limit);
201 
203  double getVelocityUpperLimit() const;
204 
206  void resetVelocity();
207 
209  void setInitialVelocity(double _initial);
210 
212  double getInitialVelocity() const;
213 
215 
216  //----------------------------------------------------------------------------
218  //----------------------------------------------------------------------------
219 
221  void setAcceleration(double _acceleration);
222 
224  double getAcceleration() const;
225 
227  void resetAcceleration();
228 
230  void setAccelerationLimits(double _lowerLimit, double _upperLimit);
231 
233  void setAccelerationLimits(const std::pair<double,double>& _limits);
234 
236  std::pair<double,double> getAccelerationLimits() const;
237 
239  void setAccelerationLowerLimit(double _limit);
240 
242  double getAccelerationLowerLimit() const;
243 
245  void setAccelerationUpperLimit(double _limit);
246 
248  double getAccelerationUpperLimit() const;
249 
251 
252  //----------------------------------------------------------------------------
254  //----------------------------------------------------------------------------
255 
257  void setForce(double _force);
258 
260  double getForce() const;
261 
263  void resetForce();
264 
266  void setForceLimits(double _lowerLimit, double _upperLimit);
267 
269  void setForceLimits(const std::pair<double,double>& _limits);
270 
272  std::pair<double,double> getForceLimits() const;
273 
275  void setForceLowerLimit(double _limit);
276 
278  double getForceLowerLimit() const;
279 
281  void setForceUpperLimit(double _limit);
282 
284  double getForceUpperLimit() const;
285 
287 
288  //----------------------------------------------------------------------------
290  //----------------------------------------------------------------------------
291 
293  void setVelocityChange(double _velocityChange);
294 
296  double getVelocityChange() const;
297 
299  void resetVelocityChange();
300 
302 
303  //----------------------------------------------------------------------------
305  //----------------------------------------------------------------------------
306 
308  void setConstraintImpulse(double _impulse);
309 
311  double getConstraintImpulse() const;
312 
314  void resetConstraintImpulse();
315 
317 
318  //----------------------------------------------------------------------------
320  //----------------------------------------------------------------------------
321 
323  void setSpringStiffness(double _k);
324 
326  double getSpringStiffness() const;
327 
329  void setRestPosition(double _q0);
330 
332  double getRestPosition() const;
333 
336  void setDampingCoefficient(double _coeff);
337 
340  double getDampingCoefficient() const;
341 
343  void setCoulombFriction(double _friction);
344 
346  double getCoulombFriction() const;
347 
349 
350  //----------------------------------------------------------------------------
352  //----------------------------------------------------------------------------
353 
355  Joint* getJoint();
356 
358  const Joint* getJoint() const;
359 
362 
365 
368 
370  const BodyNode* getChildBodyNode() const;
371 
374 
376  const BodyNode* getParentBodyNode() const;
377 
379 
380 protected:
383  DegreeOfFreedom(Joint* _joint, std::size_t _indexInJoint);
384 
389  std::size_t mIndexInJoint;
390 
392  std::size_t mIndexInSkeleton;
393 
395  std::size_t mIndexInTree;
396 
399  // Note that we do not need to store BodyNode or Skeleton, because we can
400  // access them through this joint pointer. Moreover, we never need to check
401  // whether mJoint is nullptr, because only Joints are allowed to create a
402  // DegreeOfFreedom and every DegreeOfFreedom is deleted when its Joint is
403  // destructed.
404 
405 };
406 
407 } // namespace dynamics
408 } // namespace dart
409 
410 #endif // DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
The Subject class is a base class for any object that wants to report when it gets destroyed.
Definition: Subject.hpp:58
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
DegreeOfFreedom class is a proxy class for accessing single degrees of freedom (aka generalized coord...
Definition: DegreeOfFreedom.hpp:53
double getDampingCoefficient() const
Get coefficient of damping (viscous friction) force for this generalized coordinate.
Definition: DegreeOfFreedom.cpp:460
void resetForce()
Set the generalized force of this DegreeOfFreedom to zero.
Definition: DegreeOfFreedom.cpp:345
void setAccelerationLimits(double _lowerLimit, double _upperLimit)
Set the acceleration limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:287
void setVelocity(double _velocity)
Set the velocity of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:195
void setAccelerationUpperLimit(double _limit)
Set the upper acceleration limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:321
bool isCyclic() const
Get whether this DOF is cyclic.
Definition: DegreeOfFreedom.cpp:171
void resetPosition()
Set the position of this DegreeOfFreedom to zero.
Definition: DegreeOfFreedom.cpp:177
double getForceUpperLimit() const
Get the upper generalized force limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:388
double getPosition() const
Get the position of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:114
void resetConstraintImpulse()
Set the constraint impulse of this generalized coordinate to zero.
Definition: DegreeOfFreedom.cpp:424
void setAcceleration(double _acceleration)
Set the acceleration of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:269
BodyNode * getChildBodyNode()
Get the BodyNode downstream of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:502
void setForce(double _force)
Set the generalized force of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:333
double getCoulombFriction() const
Get Coulomb friction force for this generalized coordinate.
Definition: DegreeOfFreedom.cpp:472
DegreeOfFreedom(const DegreeOfFreedom &)=delete
void setCoulombFriction(double _friction)
Set Coulomb friction force for this generalized coordinate.
Definition: DegreeOfFreedom.cpp:466
std::size_t getIndexInTree() const
Get this DegreeOfFreedom's index within its tree.
Definition: DegreeOfFreedom.cpp:72
std::size_t getIndexInSkeleton() const
Get this DegreeOfFreedom's index within its Skeleton.
Definition: DegreeOfFreedom.cpp:66
double getForce() const
Get the generalized force of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:339
Joint * getJoint()
Get the Joint that this DegreeOfFreedom belongs to.
Definition: DegreeOfFreedom.cpp:478
std::size_t getTreeIndex() const
Get the index of the tree that this DegreeOfFreedom belongs to.
Definition: DegreeOfFreedom.cpp:84
std::pair< double, double > getVelocityLimits() const
Get the velocity limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:226
const std::string & getName() const
Get the name of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:48
void resetCommand()
Set the command of this DegreeOfFreedom to zero.
Definition: DegreeOfFreedom.cpp:102
bool hasPositionLimit() const
Get whether the position of this DegreeOfFreedom has limits.
Definition: DegreeOfFreedom.cpp:165
std::pair< double, double > getForceLimits() const
Get the generalized force limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:364
std::size_t mIndexInTree
Index of this DegreeOfFreedom within its tree.
Definition: DegreeOfFreedom.hpp:395
void setDampingCoefficient(double _coeff)
Set coefficient of damping (viscous friction) force for this generalized coordinate.
Definition: DegreeOfFreedom.cpp:454
double getAcceleration() const
Get the acceleration of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:275
void setRestPosition(double _q0)
Set rest position for the spring force of this generalized coordinate.
Definition: DegreeOfFreedom.cpp:442
double getRestPosition() const
Get rest position for the spring force of this generalized coordinate.
Definition: DegreeOfFreedom.cpp:448
std::size_t getIndexInJoint() const
Get this DegreeOfFreedom's index within its Joint.
Definition: DegreeOfFreedom.cpp:78
void setVelocityLowerLimit(double _limit)
Set the lower velocity limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:233
void setAccelerationLowerLimit(double _limit)
Set the lower acceleration limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:309
void setSpringStiffness(double _k)
Set stiffness of the spring force for this generalized coordinate.
Definition: DegreeOfFreedom.cpp:430
void setCommand(double _command)
Set the command of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:90
double getAccelerationLowerLimit() const
Get the lower acceleration limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:315
double getVelocityUpperLimit() const
Get the upper Velocity limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:251
std::pair< double, double > getAccelerationLimits() const
Get the acceleration limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:302
double getVelocityChange() const
Get the velocity change of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:400
double getSpringStiffness() const
Get stiffness of the spring force for this generalized coordinate.
Definition: DegreeOfFreedom.cpp:436
void setPositionLimits(double _lowerLimit, double _upperLimit)
Set the position limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:120
void setVelocityUpperLimit(double _limit)
Set the upper velocity limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:245
void setInitialPosition(double _initial)
Change the position that resetPosition() will give to this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:183
BodyNode * getParentBodyNode()
Get the BodyNode upstream of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:514
double getInitialVelocity() const
Get the velocity that resetVelocity() will give to this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:263
void setForceLimits(double _lowerLimit, double _upperLimit)
Set the generalized force limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:351
double getCommand() const
Get the command of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:96
double getVelocityLowerLimit() const
Get the lower velocity limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:239
double getPositionLowerLimit() const
Get the lower position limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:147
std::pair< double, double > getPositionLimits() const
Get the position limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:133
double getAccelerationUpperLimit() const
Get the upper acceleration limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:327
double getConstraintImpulse() const
Get the constraint impulse of this generalized coordinate.
Definition: DegreeOfFreedom.cpp:418
void setVelocityChange(double _velocityChange)
Set the velocity change of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:394
double getVelocity() const
Get the velocity of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:201
SkeletonPtr getSkeleton()
Get the Skeleton that this DegreeOfFreedom is inside of.
Definition: DegreeOfFreedom.cpp:490
double getInitialPosition() const
Get the position that resetPosition() will give to this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:189
Joint * mJoint
The joint that this DegreeOfFreedom belongs to.
Definition: DegreeOfFreedom.hpp:398
void preserveName(bool _preserve)
Prevent Joint::updateDegreeOfFreedomNames() from changing the name of this degree of freedom.
Definition: DegreeOfFreedom.cpp:54
void setPositionUpperLimit(double _limit)
Set the upper position limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:153
std::size_t mIndexInJoint
Index of this DegreeOfFreedom within its Joint.
Definition: DegreeOfFreedom.hpp:389
void setConstraintImpulse(double _impulse)
Set the constraint impulse of this generalized coordinate.
Definition: DegreeOfFreedom.cpp:412
double getForceLowerLimit() const
Get the lower generalized force limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:376
bool isNamePreserved() const
Check whether DegreeOfFreedom::lockName(bool) is activate.
Definition: DegreeOfFreedom.cpp:60
void setForceLowerLimit(double _limit)
Set the lower generalized force limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:370
void setVelocityLimits(double _lowerLimit, double _upperLimit)
Set the velocity limits of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:213
double getPositionUpperLimit() const
Get the upper position limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:159
void setInitialVelocity(double _initial)
Change the velocity that resetVelocity() will give to this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:257
void resetAcceleration()
Set the acceleration of this DegreeOfFreedom to zero.
Definition: DegreeOfFreedom.cpp:281
std::size_t mIndexInSkeleton
Index of this DegreeOfFreedom within its Skeleton.
Definition: DegreeOfFreedom.hpp:392
const std::string & setName(const std::string &_name, bool _preserveName=true)
Change the name of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:41
void setPosition(double _position)
Set the position of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:108
void resetVelocityChange()
Set the velocity change of this DegreeOfFreedom to zero.
Definition: DegreeOfFreedom.cpp:406
void setForceUpperLimit(double _limit)
Set the upper generalized force limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:382
void setPositionLowerLimit(double _limit)
Set the lower position limit of this DegreeOfFreedom.
Definition: DegreeOfFreedom.cpp:141
void resetVelocity()
Set the velocity of this DegreeOfFreedom to zero.
Definition: DegreeOfFreedom.cpp:207
Definition: GenericJoint.hpp:49
class Joint
Definition: Joint.hpp:59
class Skeleton
Definition: Skeleton.hpp:59
std::shared_ptr< const Skeleton > ConstSkeletonPtr
Definition: SmartPointer.hpp:60
std::shared_ptr< Skeleton > SkeletonPtr
Definition: SmartPointer.hpp:60
Definition: BulletCollisionDetector.cpp:63