DegreeOfFreedomPtr.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
#define DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
 
#include "dart/dynamics/detail/BodyNodePtr.hpp"
#include "dart/dynamics/InvalidIndex.hpp"
 
namespace dart {
namespace dynamics {
 
template <class DegreeOfFreedomT, class BodyNodeT>
class TemplateDegreeOfFreedomPtr
{
public:
 
  template<class, class> friend class TemplateDegreeOfFreedomPtr;
 
  TemplateDegreeOfFreedomPtr() = default;
 
  TemplateDegreeOfFreedomPtr(DegreeOfFreedomT* _ptr) { set(_ptr); }
 
  template <class OtherDegreeOfFreedomT, class OtherBodyNodeT>
  TemplateDegreeOfFreedomPtr(
      const TemplateDegreeOfFreedomPtr<OtherDegreeOfFreedomT,
      OtherBodyNodeT>& _dofp)
  {
    set(_dofp.get());
  }
 
  TemplateDegreeOfFreedomPtr& operator = (DegreeOfFreedomT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherDegreeOfFreedomT, class OtherBodyNodeT>
  TemplateDegreeOfFreedomPtr& operator = (
      const TemplateDegreeOfFreedomPtr<OtherDegreeOfFreedomT,
      OtherBodyNodeT>& _dofp)
  {
    set(_dofp.get());
    return *this;
  }
 
  operator DegreeOfFreedomT*() const { return get(); }
 
  DegreeOfFreedomT& operator*() const { return *get(); }
 
  DegreeOfFreedomT* operator->() const { return get(); }
 
  DegreeOfFreedomT* get() const
  {
    if(nullptr == mBodyNodePtr)
      return nullptr;
 
    return mBodyNodePtr->getParentJoint()->getDof(mIndex);
  }
 
  TemplateBodyNodePtr<BodyNodeT> getBodyNodePtr() const
  {
    return mBodyNodePtr;
  }
 
  std::size_t getLocalIndex() const
  {
    if(nullptr == mBodyNodePtr)
      return INVALID_INDEX;
 
    return mIndex;
  }
 
  void set(DegreeOfFreedomT* _ptr)
  {
    if(nullptr == _ptr)
    {
      mBodyNodePtr = nullptr;
      return;
    }
 
    mBodyNodePtr = _ptr->getChildBodyNode();
    mIndex = _ptr->getIndexInJoint();
  }
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator == (const TemplateDegreeOfFreedomPtr<OtherDofT,
                    OtherBodyNodeT>& _rhs) const
  {
    if(nullptr == mBodyNodePtr && nullptr == _rhs.mBodyNodePtr)
      return true;
 
    if( (mBodyNodePtr == _rhs.mBodyNodePtr) && (mIndex == _rhs.mIndex) )
      return true;
 
    return false;
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator != (const TemplateDegreeOfFreedomPtr<OtherDofT,
                    OtherBodyNodeT>& _rhs) const
  {
    return !( *this == _rhs );
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator < (const TemplateDegreeOfFreedomPtr<OtherDofT,
                   OtherBodyNodeT>& _rhs) const
  {
    if( mBodyNodePtr == _rhs.mBodyNodePtr )
      return (mIndex < _rhs.mIndex);
 
    return (mBodyNodePtr < _rhs.mBodyNodePtr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator > (const TemplateDegreeOfFreedomPtr<OtherDofT,
                   OtherBodyNodeT>& _rhs) const
  {
    if( mBodyNodePtr == _rhs.mBodyNodePtr )
      return (mIndex > _rhs.mIndex);
 
    return (mBodyNodePtr > _rhs.mBodyNodePtr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator <= (const TemplateDegreeOfFreedomPtr<OtherDofT,
                    OtherBodyNodeT>& _rhs) const
  {
    return (*this < _rhs) || (*this == _rhs);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  bool operator >= (const TemplateDegreeOfFreedomPtr<OtherDofT,
                    OtherBodyNodeT>& _rhs) const
  {
    return (*this > _rhs) || (*this == _rhs);
  }
 
 
private:
  TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
 
  std::size_t mIndex;
};
 
template <class DegreeOfFreedomT, class BodyNodeT>
class TemplateWeakDegreeOfFreedomPtr
{
public:
 
  template<class, class> friend class TemplateWeakDegreeOfFreedomPtr;
 
  TemplateWeakDegreeOfFreedomPtr() { set(nullptr); }
 
  TemplateWeakDegreeOfFreedomPtr(DegreeOfFreedomT* _ptr) { set(_ptr); }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr(
      const TemplateWeakDegreeOfFreedomPtr<OtherDofT,
      OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr(
      const TemplateDegreeOfFreedomPtr<OtherDofT,
      OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
  }
 
  TemplateWeakDegreeOfFreedomPtr& operator = (DegreeOfFreedomT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr& operator = (
      const TemplateWeakDegreeOfFreedomPtr<OtherDofT,
      OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
    return *this;
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  TemplateWeakDegreeOfFreedomPtr& operator = (
      const TemplateDegreeOfFreedomPtr<OtherDofT,
      OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
    return *this;
  }
 
  TemplateDegreeOfFreedomPtr<DegreeOfFreedomT, BodyNodeT> lock() const
  {
    TemplateBodyNodePtr<BodyNodeT> bodyNode = mWeakBodyNode.lock();
    if(nullptr == bodyNode)
      return nullptr;
 
    return TemplateDegreeOfFreedomPtr<DegreeOfFreedomT, BodyNodeT>(
          bodyNode->getParentJoint()->getDof(mIndex));
  }
 
  void set(DegreeOfFreedomT* _ptr)
  {
    if(nullptr == _ptr)
    {
      mWeakBodyNode = nullptr;
      mIndex = 0;
      return;
    }
 
    mWeakBodyNode = _ptr->getChildBodyNode();
    mIndex = _ptr->getIndexInJoint();
  }
 
  template <class OtherDofT, class OtherBodyNodeT>
  void set(const TemplateWeakDegreeOfFreedomPtr<OtherDofT,
           OtherBodyNodeT>& _weakPtr)
  {
    mWeakBodyNode = _weakPtr.mWeakBodyNode;
    mIndex = _weakPtr.mIndex;
  }
 
private:
  TemplateWeakBodyNodePtr<BodyNodeT> mWeakBodyNode;
 
  std::size_t mIndex;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_