FreeJoint.hpp

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#ifndef DART_DYNAMICS_FREEJOINT_HPP_
#define DART_DYNAMICS_FREEJOINT_HPP_

#include <string>

#include <Eigen/Dense>

#include "dart/common/Deprecated.hpp"
#include "dart/dynamics/GenericJoint.hpp"

namespace dart {
namespace dynamics {

class FreeJoint : public GenericJoint<math::SE3Space>
{
public:
  friend class Skeleton;

  using Base = GenericJoint<math::SE3Space>;

  struct Properties : Base::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)

    Properties(const Base::Properties& properties = Base::Properties());

    virtual ~Properties() = default;
  };

  FreeJoint(const FreeJoint&) = delete;

  virtual ~FreeJoint();

  Properties getFreeJointProperties() const;

  // Documentation inherited
  const std::string& getType() const override;

  static const std::string& getStaticType();

  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;

  static Eigen::Vector6d convertToPositions(const Eigen::Isometry3d& _tf);

  static Eigen::Isometry3d convertToTransform(
      const Eigen::Vector6d& _positions);

  DART_DEPRECATED(6.9)
  static void setTransform(
      Joint* joint,
      const Eigen::Isometry3d& tf,
      const Frame* withRespectTo = Frame::World());

  static void setTransformOf(
      Joint* joint,
      const Eigen::Isometry3d& tf,
      const Frame* withRespectTo = Frame::World());

  DART_DEPRECATED(6.9)
  static void setTransform(
      BodyNode* bodyNode,
      const Eigen::Isometry3d& tf,
      const Frame* withRespectTo = Frame::World());

  static void setTransformOf(
      BodyNode* bodyNode,
      const Eigen::Isometry3d& tf,
      const Frame* withRespectTo = Frame::World());

  DART_DEPRECATED(6.9)
  static void setTransform(
      Skeleton* skeleton,
      const Eigen::Isometry3d& tf,
      const Frame* withRespectTo = Frame::World(),
      bool applyToAllRootBodies = true);

  static void setTransformOf(
      Skeleton* skeleton,
      const Eigen::Isometry3d& tf,
      const Frame* withRespectTo = Frame::World(),
      bool applyToAllRootBodies = true);

  void setSpatialMotion(
      const Eigen::Isometry3d* newTransform,
      const Frame* withRespectTo,
      const Eigen::Vector6d* newSpatialVelocity,
      const Frame* velRelativeTo,
      const Frame* velInCoordinatesOf,
      const Eigen::Vector6d* newSpatialAcceleration,
      const Frame* accRelativeTo,
      const Frame* accInCoordinatesOf);

  void setRelativeTransform(const Eigen::Isometry3d& newTransform);

  void setTransform(
      const Eigen::Isometry3d& newTransform,
      const Frame* withRespectTo = Frame::World());

  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity);

  void setRelativeSpatialVelocity(
      const Eigen::Vector6d& newSpatialVelocity, const Frame* inCoordinatesOf);

  void setSpatialVelocity(
      const Eigen::Vector6d& newSpatialVelocity,
      const Frame* relativeTo,
      const Frame* inCoordinatesOf);

  void setLinearVelocity(
      const Eigen::Vector3d& newLinearVelocity,
      const Frame* relativeTo = Frame::World(),
      const Frame* inCoordinatesOf = Frame::World());

  void setAngularVelocity(
      const Eigen::Vector3d& newAngularVelocity,
      const Frame* relativeTo = Frame::World(),
      const Frame* inCoordinatesOf = Frame::World());

  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration);

  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration,
      const Frame* inCoordinatesOf);

  void setSpatialAcceleration(
      const Eigen::Vector6d& newSpatialAcceleration,
      const Frame* relativeTo,
      const Frame* inCoordinatesOf);

  void setLinearAcceleration(
      const Eigen::Vector3d& newLinearAcceleration,
      const Frame* relativeTo = Frame::World(),
      const Frame* inCoordinatesOf = Frame::World());

  void setAngularAcceleration(
      const Eigen::Vector3d& newAngularAcceleration,
      const Frame* relativeTo = Frame::World(),
      const Frame* inCoordinatesOf = Frame::World());

  // Documentation inherited
  Eigen::Matrix6d getRelativeJacobianStatic(
      const Eigen::Vector6d& _positions) const override;

  // Documentation inherited
  Eigen::Vector6d getPositionDifferencesStatic(
      const Eigen::Vector6d& _q2, const Eigen::Vector6d& _q1) const override;

protected:
  FreeJoint(const Properties& properties);

  // Documentation inherited
  Joint* clone() const override;

  using Base::getRelativeJacobianStatic;

  // Documentation inherited
  void integratePositions(double _dt) override;

  // Documentation inherited
  void updateDegreeOfFreedomNames() override;

  // Documentation inherited
  void updateRelativeTransform() const override;

  // Documentation inherited
  void updateRelativeJacobian(bool _mandatory = true) const override;

  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;

protected:
  const Eigen::Isometry3d& getQ() const;

  mutable Eigen::Isometry3d mQ;

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

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_FREEJOINT_HPP_