EndEffector.hpp

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#ifndef DART_DYNAMICS_ENDEFFECTOR_HPP_
#define DART_DYNAMICS_ENDEFFECTOR_HPP_

#include "dart/common/Aspect.hpp"
#include "dart/common/AspectWithVersion.hpp"
#include "dart/common/SpecializedForAspect.hpp"
#include "dart/dynamics/CompositeNode.hpp"
#include "dart/dynamics/FixedJacobianNode.hpp"
#include "dart/dynamics/detail/EndEffectorAspect.hpp"

namespace dart {
namespace dynamics {

class BodyNode;
class Skeleton;
class EndEffector;

//==============================================================================
class Support final : public common::AspectWithStateAndVersionedProperties<
                          Support,
                          detail::SupportStateData,
                          detail::SupportPropertiesData,
                          EndEffector,
                          &detail::SupportUpdate>
{
public:
  DART_COMMON_ASPECT_STATE_PROPERTY_CONSTRUCTORS(Support)

  
  DART_COMMON_SET_GET_ASPECT_PROPERTY(math::SupportGeometry, Geometry)
  // void setGeometry(const math::SupportGeometry&);
  // const math::SupportGeometry& getGeometry() const;

  
  void setActive(bool _supporting = true);

  bool isActive() const;
};

//==============================================================================
class EndEffector final : public common::EmbedPropertiesOnTopOf<
                              EndEffector,
                              detail::EndEffectorProperties,
                              detail::EndEffectorCompositeBase>
{
public:
  friend class Skeleton;
  friend class BodyNode;

  using UniqueProperties = detail::EndEffectorProperties;

  using BasicProperties
      = common::Composite::MakeProperties<NameAspect, FixedFrame, EndEffector>;

  using Properties = common::Composite::Properties;

  virtual ~EndEffector() = default;

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

  void setProperties(const BasicProperties& _properties);

  void setProperties(const UniqueProperties& properties, bool useNow = false);

  void setAspectProperties(const AspectProperties& properties);

  Properties getEndEffectorProperties() const;

  void copy(const EndEffector& _otherEndEffector);

  void copy(const EndEffector* _otherEndEffector);

  EndEffector& operator=(const EndEffector& _otherEndEffector);

  void setDefaultRelativeTransform(
      const Eigen::Isometry3d& _newDefaultTf, bool _useNow = false);

  void resetRelativeTransform();

  DART_BAKE_SPECIALIZED_ASPECT(Support)

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

  // Documentation inherited
  void dirtyTransform() override;


protected:
  explicit EndEffector(BodyNode* parent, const BasicProperties& properties);

  // Documentation inherited
  Node* cloneNode(BodyNode* _parent) const override;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_ENDEFFECTOR_HPP_