Frame.hpp

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#ifndef DART_DYNAMICS_FRAME_HPP_
#define DART_DYNAMICS_FRAME_HPP_

#include <set>

#include <Eigen/Geometry>

#include "dart/dynamics/Entity.hpp"
#include "dart/math/MathTypes.hpp"

namespace dart {
namespace dynamics {

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Frame : public virtual Entity
{
public:
  friend class Entity;
  friend class WorldFrame;
  friend class ShapeFrame;

  Frame(const Frame&) = delete;

  ~Frame() override;

  static Frame* World();

  // Shared pointer version for Pythong binding. In the current binding setting,
  // Frame is always held in std::shared_ptr. This means it will double free
  // when Frame* World() is used because Frame* World() returns a raw pointer of
  // static instance. This workaround wouldn't heart the performance too much
  // because it only creates one additional WorldFrame instance and one
  // shared_ptr to hold it.
  static std::shared_ptr<Frame> WorldShared();

  //--------------------------------------------------------------------------
  // Transform
  //--------------------------------------------------------------------------

  virtual const Eigen::Isometry3d& getRelativeTransform() const = 0;

  const Eigen::Isometry3d& getWorldTransform() const;

  Eigen::Isometry3d getTransform(
      const Frame* _withRespectTo = Frame::World()) const;

  Eigen::Isometry3d getTransform(
      const Frame* withRespectTo, const Frame* inCoordinatesOf) const;

  //-------------------------------------------------------------------------
  // Velocity
  //-------------------------------------------------------------------------

  virtual const Eigen::Vector6d& getRelativeSpatialVelocity() const = 0;

  const Eigen::Vector6d& getSpatialVelocity() const;

  Eigen::Vector6d getSpatialVelocity(
      const Frame* _relativeTo, const Frame* _inCoordinatesOf) const;

  Eigen::Vector6d getSpatialVelocity(const Eigen::Vector3d& _offset) const;

  Eigen::Vector6d getSpatialVelocity(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo,
      const Frame* _inCoordinatesOf) const;

  Eigen::Vector3d getLinearVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;

  Eigen::Vector3d getLinearVelocity(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;

  Eigen::Vector3d getAngularVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;

  //--------------------------------------------------------------------------
  // Acceleration
  //--------------------------------------------------------------------------

  virtual const Eigen::Vector6d& getRelativeSpatialAcceleration() const = 0;

  virtual const Eigen::Vector6d& getPrimaryRelativeAcceleration() const = 0;

  virtual const Eigen::Vector6d& getPartialAcceleration() const = 0;

  const Eigen::Vector6d& getSpatialAcceleration() const;

  Eigen::Vector6d getSpatialAcceleration(
      const Frame* _relativeTo, const Frame* _inCoordinatesOf) const;

  Eigen::Vector6d getSpatialAcceleration(const Eigen::Vector3d& _offset) const;

  Eigen::Vector6d getSpatialAcceleration(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo,
      const Frame* _inCoordinatesOf) const;

  Eigen::Vector3d getLinearAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;

  Eigen::Vector3d getLinearAcceleration(
      const Eigen::Vector3d& _offset,
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;

  Eigen::Vector3d getAngularAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const;

  //--------------------------------------------------------------------------
  // Relationships
  //--------------------------------------------------------------------------

  const std::set<Entity*>& getChildEntities();

  const std::set<const Entity*> getChildEntities() const;

  std::size_t getNumChildEntities() const;

  const std::set<Frame*>& getChildFrames();

  std::set<const Frame*> getChildFrames() const;

  std::size_t getNumChildFrames() const;

  bool isShapeFrame() const;

  virtual ShapeFrame* asShapeFrame();

  virtual const ShapeFrame* asShapeFrame() const;

  bool isWorld() const;

  virtual void dirtyTransform() override;

  virtual void dirtyVelocity() override;

  virtual void dirtyAcceleration() override;

protected:
  enum ConstructAbstractTag
  {
    ConstructAbstract
  };

  explicit Frame(Frame* _refFrame);

  Frame();

  explicit Frame(ConstructAbstractTag);

  // Documentation inherited
  virtual void changeParentFrame(Frame* _newParentFrame) override;

  virtual void processNewEntity(Entity* _newChildEntity);

  virtual void processRemovedEntity(Entity* _oldChildEntity);

private:
  enum ConstructWorldTag
  {
    ConstructWorld
  };

  explicit Frame(ConstructWorldTag);

protected:
  mutable Eigen::Isometry3d mWorldTransform;

  mutable Eigen::Vector6d mVelocity;

  mutable Eigen::Vector6d mAcceleration;

  std::set<Frame*> mChildFrames;

  std::set<Entity*> mChildEntities;

private:
  const bool mAmWorld;

  bool mAmShapeFrame;

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

class WorldFrame : public Frame
{
public:
  friend class Frame;

  const Eigen::Isometry3d& getRelativeTransform() const override final;

  const Eigen::Vector6d& getRelativeSpatialVelocity() const override final;

  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override final;

  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override final;

  const Eigen::Vector6d& getPartialAcceleration() const override final;

  const std::string& setName(const std::string& name) override final;

  const std::string& getName() const override final;

private:
  explicit WorldFrame();

private:
  const Eigen::Isometry3d mRelativeTf;

  static const Eigen::Vector6d mZero;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_FRAME_HPP_