ReferentialSkeleton.hpp

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#ifndef DART_DYNAMICS_REFERENTIALSKELETON_HPP_
#define DART_DYNAMICS_REFERENTIALSKELETON_HPP_
 
#include <unordered_map>
#include <unordered_set>
 
#include "dart/dynamics/MetaSkeleton.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class ReferentialSkeleton : public MetaSkeleton
{
public:
 
  ReferentialSkeleton& operator=(const ReferentialSkeleton& _other) = delete;
 
  virtual ~ReferentialSkeleton() = default;
 
  // Documentation inherited
  std::unique_ptr<common::LockableReference> getLockableReference() const override;
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  const std::string& setName(const std::string& _name) override;
 
  // Documentation inherited
  const std::string& getName() const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  std::size_t getNumSkeletons() const;
 
  bool hasSkeleton(const Skeleton* skel) const;
 
  // Documentation inherited
  std::size_t getNumBodyNodes() const override;
 
  // Documentation inherited
  BodyNode* getBodyNode(std::size_t _idx) override;
 
  // Documentation inherited
  const BodyNode* getBodyNode(std::size_t _idx) const override;
 
  BodyNode* getBodyNode(const std::string& name) override;
 
  const BodyNode* getBodyNode(const std::string& name) const override;
 
  // Documentation inherited
  const std::vector<BodyNode*>& getBodyNodes() override;
 
  // Documentation inherited
  const std::vector<const BodyNode*>& getBodyNodes() const override;
 
  std::vector<BodyNode*> getBodyNodes(const std::string& name) override;
 
  std::vector<const BodyNode*> getBodyNodes(
      const std::string& name) const override;
 
  // Documentation inherited
  bool hasBodyNode(const BodyNode* bodyNode) const override;
 
  // Documentation inherited
  std::size_t getIndexOf(const BodyNode* _bn, bool _warning=true) const override;
 
  // Documentation inherited
  std::size_t getNumJoints() const override;
 
  // Documentation inherited
  Joint* getJoint(std::size_t _idx) override;
 
  // Documentation inherited
  const Joint* getJoint(std::size_t _idx) const override;
 
  Joint* getJoint(const std::string& name) override;
 
  const Joint* getJoint(const std::string& name) const override;
 
  // Documentation inherited
  std::vector<Joint*> getJoints() override;
 
  // Documentation inherited
  std::vector<const Joint*> getJoints() const override;
 
  std::vector<Joint*> getJoints(const std::string& name) override;
 
  std::vector<const Joint*> getJoints(const std::string& name) const override;
 
  // Documentation inherited
  bool hasJoint(const Joint* joint) const override;
 
  // Documentation inherited
  std::size_t getIndexOf(const Joint* _joint, bool _warning=true) const override;
 
  // Documentation inherited
  std::size_t getNumDofs() const override;
 
  // Documentation inherited
  DegreeOfFreedom* getDof(std::size_t _idx) override;
 
  // Documentation inherited
  const DegreeOfFreedom* getDof(std::size_t _idx) const override;
 
  // Documentation inherited
  const std::vector<DegreeOfFreedom*>& getDofs() override;
 
  // Documentation inherited
  std::vector<const DegreeOfFreedom*> getDofs() const override;
 
  // Documentation inherited
  std::size_t getIndexOf(const DegreeOfFreedom* _dof,
                    bool _warning=true) const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  math::Jacobian getJacobian(const JacobianNode* _node) const override;
 
  // Documentation inherited
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf) const override;
 
  // Documentation inherited
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const override;
 
  // Documentation inherited
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf) const override;
 
  // Documentation inherited
  math::Jacobian getWorldJacobian(const JacobianNode* _node) const override;
 
  // Documentation inherited
  math::Jacobian getWorldJacobian(const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const override;
 
  // Documentation inherited
  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::AngularJacobian getAngularJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf) const override;
 
  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::AngularJacobian getAngularJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  double getMass() const override;
 
  // Documentation inherited
  const Eigen::MatrixXd& getMassMatrix() const override;
 
  // Documentation inherited
  const Eigen::MatrixXd& getAugMassMatrix() const override;
 
  // Documentation inherited
  const Eigen::MatrixXd& getInvMassMatrix() const override;
 
  // Documentation inherited
  const Eigen::MatrixXd& getInvAugMassMatrix() const override;
 
  // Documentation inherited
  const Eigen::VectorXd& getCoriolisForces() const override;
 
  // Documentation inherited
  const Eigen::VectorXd& getGravityForces() const override;
 
  // Documentation inherited
  const Eigen::VectorXd& getCoriolisAndGravityForces() const override;
 
  // Documentation inherited
  const Eigen::VectorXd& getExternalForces() const override;
 
  // Documentation inherited
  const Eigen::VectorXd& getConstraintForces() const override;
 
  // Documentation inherited
  void clearExternalForces() override;
 
  // Documentation inherited
  void clearInternalForces() override;
 
  // Documentation inherited
  double computeKineticEnergy() const override;
 
  // Documentation inherited
  double computePotentialEnergy() const override;
 
  // Documentation inherited
  DART_DEPRECATED(6.0)
  void clearCollidingBodies() override;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  Eigen::Vector3d getCOM(
      const Frame* _withRespectTo = Frame::World()) const override;
 
  // Documentation inherited
  Eigen::Vector6d getCOMSpatialVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  Eigen::Vector3d getCOMLinearVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  Eigen::Vector6d getCOMSpatialAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  Eigen::Vector3d getCOMLinearAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::Jacobian getCOMJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::LinearJacobian getCOMLinearJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::Jacobian getCOMJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
  // Documentation inherited
  math::LinearJacobian getCOMLinearJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const override;
 
 
protected:
 
  ReferentialSkeleton() = default;
 
  void registerComponent(BodyNode* _bn);
 
  void registerBodyNode(BodyNode* _bn);
 
  void registerJoint(Joint* _joint);
 
  void registerDegreeOfFreedom(DegreeOfFreedom* _dof);
 
  void unregisterComponent(BodyNode* _bn);
 
  void unregisterBodyNode(BodyNode* _bn, bool _unregisterDofs);
 
  void unregisterJoint(BodyNode* _child);
 
  void unregisterDegreeOfFreedom(BodyNode* _bn, std::size_t _localIndex);
 
  void updateCaches();
 
  std::weak_ptr<MetaSkeleton> mPtr;
 
  struct IndexMap
  {
    std::size_t mBodyNodeIndex;
 
    std::size_t mJointIndex;
 
    std::vector<std::size_t> mDofIndices;
 
    IndexMap();
 
    bool isExpired() const;
  };
 
  std::string mName;
 
  std::unordered_set<const Skeleton*> mSkeletons;
 
  std::set<std::mutex*> mSkeletonMutexes;
 
  std::vector<BodyNodePtr> mBodyNodes;
 
  mutable std::vector<BodyNode*> mRawBodyNodes;
 
  mutable std::vector<const BodyNode*> mRawConstBodyNodes;
 
  std::vector<JointPtr> mJoints;
 
  std::vector<DegreeOfFreedomPtr> mDofs;
 
  mutable std::vector<DegreeOfFreedom*> mRawDofs;
 
  mutable std::vector<const DegreeOfFreedom*> mRawConstDofs;
 
 
  std::unordered_map<const BodyNode*, IndexMap> mIndexMap;
 
  mutable Eigen::MatrixXd mM;
 
  mutable Eigen::MatrixXd mAugM;
 
  mutable Eigen::MatrixXd mInvM;
 
  mutable Eigen::MatrixXd mInvAugM;
 
  mutable Eigen::VectorXd mCvec;
 
  mutable Eigen::VectorXd mG;
 
  mutable Eigen::VectorXd mCg;
 
  mutable Eigen::VectorXd mFext;
 
  mutable Eigen::VectorXd mFc;
 
private:
  void registerSkeleton(const Skeleton* skel);
 
  void unregisterSkeleton(const Skeleton* skel);
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_REFERENTIALSKELETON_HPP_