FixedJacobianNode.hpp

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#ifndef DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
#define DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_

#include "dart/dynamics/detail/FixedJacobianNode.hpp"

namespace dart {
namespace dynamics {

class FixedJacobianNode : public detail::FixedJacobianNodeCompositeBase,
                          public AccessoryNode<FixedJacobianNode>
{
public:
  void setRelativeTransform(const Eigen::Isometry3d& newRelativeTf) override;

  // Documentation inherited
  bool dependsOn(std::size_t _genCoordIndex) const override;

  // Documentation inherited
  std::size_t getNumDependentGenCoords() const override;

  // Documentation inherited
  std::size_t getDependentGenCoordIndex(std::size_t _arrayIndex) const override;

  // Documentation inherited
  const std::vector<std::size_t>& getDependentGenCoordIndices() const override;

  // Documentation inherited
  std::size_t getNumDependentDofs() const override;

  // Documentation inherited
  DegreeOfFreedom* getDependentDof(std::size_t _index) override;

  // Documentation inherited
  const DegreeOfFreedom* getDependentDof(std::size_t _index) const override;

  // Documentation inherited
  const std::vector<DegreeOfFreedom*>& getDependentDofs() override;

  // Documentation inherited
  const std::vector<const DegreeOfFreedom*>& getDependentDofs() const override;

  // Documentation inherited
  const std::vector<const DegreeOfFreedom*> getChainDofs() const override;


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

  // Documentation inherited
  const math::Jacobian& getJacobian() const override final;

  // Prevent the inherited getJacobian functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getJacobian;

  // Documentation inherited
  const math::Jacobian& getWorldJacobian() const override final;

  // Prevent the inherited getWorldJacobian functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getWorldJacobian;

  // Documentation inherited
  const math::Jacobian& getJacobianSpatialDeriv() const override final;

  // Prevent the inherited getJacobianSpatialDeriv functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getJacobianSpatialDeriv;

  // Documentation inherited
  const math::Jacobian& getJacobianClassicDeriv() const override final;

  // Prevent the inherited getJacobianClassicDeriv functions from being shadowed
  using TemplatedJacobianNode<FixedJacobianNode>::getJacobianClassicDeriv;


protected:
  FixedJacobianNode(BodyNode* parent, const Eigen::Isometry3d& transform);

  FixedJacobianNode(const std::tuple<BodyNode*, Eigen::Isometry3d>& args);

  void updateBodyJacobian() const;

  void updateWorldJacobian() const;

  void updateBodyJacobianSpatialDeriv() const;

  void updateWorldJacobianClassicDeriv() const;

  struct Cache
  {
    math::Jacobian mBodyJacobian;

    math::Jacobian mWorldJacobian;

    math::Jacobian mBodyJacobianSpatialDeriv;

    math::Jacobian mWorldJacobianClassicDeriv;

    // To get byte-aligned Eigen vectors
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  mutable Cache mCache;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_