JacobianNode.hpp

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#ifndef DART_DYNAMICS_JACOBIANNODE_HPP_
#define DART_DYNAMICS_JACOBIANNODE_HPP_
 
#include <memory>
#include <unordered_set>
 
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/Node.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace dynamics {
 
class Skeleton;
class DegreeOfFreedom;
class InverseKinematics;
 
class JacobianNode : public virtual Frame, public Node
{
public:
 
  virtual ~JacobianNode();
 
  using Node::setName;
  using Node::getName;
 
  const std::shared_ptr<InverseKinematics>& getIK(bool _createIfNull = false);
 
  const std::shared_ptr<InverseKinematics>& getOrCreateIK();
 
  std::shared_ptr<const InverseKinematics> getIK() const;
 
  const std::shared_ptr<InverseKinematics>& createIK();
 
  void clearIK();
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual bool dependsOn(std::size_t _genCoordIndex) const = 0;
 
  virtual std::size_t getNumDependentGenCoords() const = 0;
 
  virtual std::size_t getDependentGenCoordIndex(std::size_t _arrayIndex) const = 0;
 
  virtual const std::vector<std::size_t>& getDependentGenCoordIndices() const = 0;
 
  virtual std::size_t getNumDependentDofs() const = 0;
 
  virtual DegreeOfFreedom* getDependentDof(std::size_t _index) = 0;
 
  virtual const DegreeOfFreedom* getDependentDof(std::size_t _index) const = 0;
 
  virtual const std::vector<DegreeOfFreedom*>& getDependentDofs() = 0;
 
  virtual const std::vector<const DegreeOfFreedom*>& getDependentDofs() const = 0;
 
  virtual const std::vector<const DegreeOfFreedom*> getChainDofs() const = 0;
 
 
  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------
 
  virtual const math::Jacobian& getJacobian() const = 0;
 
  virtual math::Jacobian getJacobian(const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobian(const Eigen::Vector3d& _offset) const = 0;
 
  virtual math::Jacobian getJacobian(const Eigen::Vector3d& _offset,
                                     const Frame* _inCoordinatesOf) const = 0;
 
  virtual const math::Jacobian& getWorldJacobian() const = 0;
 
  virtual math::Jacobian getWorldJacobian(
      const Eigen::Vector3d& _offset) const = 0;
 
  virtual math::LinearJacobian getLinearJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobian(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::AngularJacobian getAngularJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual const math::Jacobian& getJacobianSpatialDeriv() const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset) const = 0;
 
  virtual math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual const math::Jacobian& getJacobianClassicDeriv() const = 0;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const Frame* _inCoordinatesOf) const = 0;
 
  virtual math::Jacobian getJacobianClassicDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::LinearJacobian getLinearJacobianDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
  virtual math::AngularJacobian getAngularJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;
 
 
  DART_DEPRECATED(6.2)
  void notifyJacobianUpdate();
 
  void dirtyJacobian();
 
  DART_DEPRECATED(6.2)
  void notifyJacobianDerivUpdate();
 
  void dirtyJacobianDeriv();
 
protected:
 
  JacobianNode(BodyNode* bn);
 
  mutable bool mIsBodyJacobianDirty;
 
  mutable bool mIsWorldJacobianDirty;
 
  mutable bool mIsBodyJacobianSpatialDerivDirty;
 
  mutable bool mIsWorldJacobianClassicDerivDirty;
 
  std::shared_ptr<InverseKinematics> mIK;
 
  std::unordered_set<JacobianNode*> mChildJacobianNodes;
 
};
 
} // namespace dart
} // namespace dynamics
 
#endif // DART_DYNAMICS_JACOBIANNODE_HPP_