ConstrainedGroup.hpp

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#ifndef DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_
#define DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_

#include <memory>
#include <vector>
#include <Eigen/Dense>

#include "dart/dynamics/SmartPointer.hpp"

namespace dart {

namespace dynamics {
class Skeleton;
} // namespace dynamics

namespace dynamics {

struct ConstraintInfo;
class ConstraintBase;
class ConstraintSolver;

class ConstrainedGroup
{
public:
  //----------------------------------------------------------------------------
  // Constructor / Desctructor
  //----------------------------------------------------------------------------

  ConstrainedGroup();

  virtual ~ConstrainedGroup();

  //----------------------------------------------------------------------------
  // Setting
  //----------------------------------------------------------------------------

  void addConstraint(const ConstraintBasePtr& _constraint);

  std::size_t getNumConstraints() const;

  ConstraintBasePtr getConstraint(std::size_t _index);

  ConstConstraintBasePtr getConstraint(std::size_t _index) const;

  void removeConstraint(const ConstraintBasePtr& _constraint);

  void removeAllConstraints();

  std::size_t getTotalDimension() const;

  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------

  friend class ConstraintSolver;

private:
#ifndef NDEBUG
  bool containConstraint(const ConstConstraintBasePtr& _constraint) const;
#endif

  std::vector<ConstraintBasePtr> mConstraints;

  std::shared_ptr<dynamics::Skeleton> mRootSkeleton;
};

} // namespace dynamics
} // namespace dart

#endif // DART_CONSTRAINT_CONSTRAINEDGROUP_HPP_