DegreeOfFreedom.hpp

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#ifndef DART_DYNAMICS_DEGREEOFFREEDOM_HPP_
#define DART_DYNAMICS_DEGREEOFFREEDOM_HPP_

#include <memory>
#include <string>
#include <Eigen/Core>

#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Subject.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class Skeleton;
class Joint;
class BodyNode;

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class DegreeOfFreedom : public virtual common::Subject
{
public:
  friend class Joint;
  template <class>
  friend class GenericJoint;
  friend class Skeleton;

  DegreeOfFreedom(const DegreeOfFreedom&) = delete;

  const std::string& setName(
      const std::string& _name, bool _preserveName = true);

  const std::string& getName() const;

  void preserveName(bool _preserve);

  bool isNamePreserved() const;

  std::size_t getIndexInSkeleton() const;

  std::size_t getIndexInTree() const;

  std::size_t getIndexInJoint() const;

  std::size_t getTreeIndex() const;

  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setCommand(double _command);

  double getCommand() const;

  void resetCommand();


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setPosition(double _position);

  double getPosition() const;

  void setPositionLimits(double _lowerLimit, double _upperLimit);

  void setPositionLimits(const std::pair<double, double>& _limits);

  std::pair<double, double> getPositionLimits() const;

  void setPositionLowerLimit(double _limit);

  double getPositionLowerLimit() const;

  void setPositionUpperLimit(double _limit);

  double getPositionUpperLimit() const;

  bool isCyclic() const;

  bool hasPositionLimit() const;

  void resetPosition();

  void setInitialPosition(double _initial);

  double getInitialPosition() const;


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setVelocity(double _velocity);

  double getVelocity() const;

  void setVelocityLimits(double _lowerLimit, double _upperLimit);

  void setVelocityLimits(const std::pair<double, double>& _limits);

  std::pair<double, double> getVelocityLimits() const;

  void setVelocityLowerLimit(double _limit);

  double getVelocityLowerLimit() const;

  void setVelocityUpperLimit(double _limit);

  double getVelocityUpperLimit() const;

  void resetVelocity();

  void setInitialVelocity(double _initial);

  double getInitialVelocity() const;


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setAcceleration(double _acceleration);

  double getAcceleration() const;

  void resetAcceleration();

  void setAccelerationLimits(double _lowerLimit, double _upperLimit);

  void setAccelerationLimits(const std::pair<double, double>& _limits);

  std::pair<double, double> getAccelerationLimits() const;

  void setAccelerationLowerLimit(double _limit);

  double getAccelerationLowerLimit() const;

  void setAccelerationUpperLimit(double _limit);

  double getAccelerationUpperLimit() const;


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setForce(double _force);

  double getForce() const;

  void resetForce();

  void setForceLimits(double _lowerLimit, double _upperLimit);

  void setForceLimits(const std::pair<double, double>& _limits);

  std::pair<double, double> getForceLimits() const;

  void setForceLowerLimit(double _limit);

  double getForceLowerLimit() const;

  void setForceUpperLimit(double _limit);

  double getForceUpperLimit() const;


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setVelocityChange(double _velocityChange);

  double getVelocityChange() const;

  void resetVelocityChange();


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setConstraintImpulse(double _impulse);

  double getConstraintImpulse() const;

  void resetConstraintImpulse();


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  void setSpringStiffness(double _k);

  double getSpringStiffness() const;

  void setRestPosition(double _q0);

  double getRestPosition() const;

  void setDampingCoefficient(double _coeff);

  double getDampingCoefficient() const;

  void setCoulombFriction(double _friction);

  double getCoulombFriction() const;


  //----------------------------------------------------------------------------
  //----------------------------------------------------------------------------

  Joint* getJoint();

  const Joint* getJoint() const;

  SkeletonPtr getSkeleton();

  ConstSkeletonPtr getSkeleton() const;

  BodyNode* getChildBodyNode();

  const BodyNode* getChildBodyNode() const;

  BodyNode* getParentBodyNode();

  const BodyNode* getParentBodyNode() const;


protected:
  DegreeOfFreedom(Joint* _joint, std::size_t _indexInJoint);

  std::size_t mIndexInJoint;

  std::size_t mIndexInSkeleton;

  std::size_t mIndexInTree;

  Joint* mJoint;
  // Note that we do not need to store BodyNode or Skeleton, because we can
  // access them through this joint pointer. Moreover, we never need to check
  // whether mJoint is nullptr, because only Joints are allowed to create a
  // DegreeOfFreedom and every DegreeOfFreedom is deleted when its Joint is
  // destructed.
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DEGREEOFFREEDOM_HPP_