Chain.hpp

/*
 * Copyright (c) 2011-2021, 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_CHAIN_HPP_
#define DART_DYNAMICS_CHAIN_HPP_

#include "dart/dynamics/Linkage.hpp"

namespace dart {
namespace dynamics {

class Chain : public Linkage
{
public:
  struct Criteria
  {
    Criteria(
        BodyNode* start,
        BodyNode* target,
        bool includeUpstreamParentJoint = false);

    std::vector<BodyNode*> satisfy() const;

    WeakBodyNodePtr mStart;

    WeakBodyNodePtr mTarget;

    bool mIncludeUpstreamParentJoint;

    Linkage::Criteria convert() const;

    operator Linkage::Criteria() const;

    static Criteria convert(const Linkage::Criteria& criteria);
  };

  enum IncludeUpstreamParentJointTag
  {
    IncludeUpstreamParentJoint
  };

  static ChainPtr create(
      const Chain::Criteria& _criteria, const std::string& _name = "Chain");

  static ChainPtr create(
      BodyNode* _start, BodyNode* _target, const std::string& _name = "Chain");

  static ChainPtr create(
      BodyNode* _start,
      BodyNode* _target,
      IncludeUpstreamParentJointTag,
      const std::string& _name = "Chain");

  ChainPtr cloneChain() const;

  ChainPtr cloneChain(const std::string& cloneName) const;

  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;

  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const override;

  bool isStillChain() const;

protected:
  Chain(const Chain::Criteria& _criteria, const std::string& _name = "Chain");

  Chain(
      BodyNode* _start, BodyNode* _target, const std::string& _name = "Chain");

  Chain(
      BodyNode* _start,
      BodyNode* _target,
      IncludeUpstreamParentJointTag,
      const std::string& _name = "Chain");
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_CHAIN_HPP_