Group.hpp

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#include "dart/dynamics/ReferentialSkeleton.hpp"

#ifndef DART_DYNAMICS_GROUP_HPP_
#  define DART_DYNAMICS_GROUP_HPP_

namespace dart {
namespace dynamics {

class Group : public ReferentialSkeleton
{
public:
  static GroupPtr create(
      const std::string& _name = "Group",
      const std::vector<BodyNode*>& _bodyNodes = std::vector<BodyNode*>(),
      bool _includeJoints = true,
      bool _includeDofs = true);

  static GroupPtr create(
      const std::string& _name,
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _includeBodyNodes = true,
      bool _includeJoints = true);

  static GroupPtr create(
      const std::string& _name, const MetaSkeletonPtr& _metaSkeleton);

  virtual ~Group() = default;

  GroupPtr cloneGroup() const;

  GroupPtr cloneGroup(const std::string& cloneName) const;

  // To expose MetaSkeleton::cloneMetaSkeleton(), which takes no cloneName.
  using MetaSkeleton::cloneMetaSkeleton;

  // Documentation inherited
  MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const override;

  void swapBodyNodeIndices(std::size_t _index1, std::size_t _index2);

  void swapDofIndices(std::size_t _index1, std::size_t _index2);

  bool addComponent(BodyNode* _bn, bool _warning = true);

  bool addComponents(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);

  bool removeComponent(BodyNode* _bn, bool _warning = true);

  bool removeComponents(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);

  bool addBodyNode(BodyNode* _bn, bool _warning = true);

  bool addBodyNodes(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);

  bool removeBodyNode(BodyNode* _bn, bool _warning = true);

  bool removeBodyNodes(
      const std::vector<BodyNode*>& _bodyNodes, bool _warning = true);

  bool addJoint(Joint* _joint, bool _addDofs = true, bool _warning = true);

  bool addJoints(
      const std::vector<Joint*>& _joints,
      bool _addDofs = true,
      bool _warning = true);

  bool removeJoint(
      Joint* _joint, bool _removeDofs = true, bool _warning = true);

  bool removeJoints(
      const std::vector<Joint*>& _joints,
      bool _removeDofs = true,
      bool _warning = true);

  bool addDof(
      DegreeOfFreedom* _dof, bool _addJoint = true, bool _warning = true);

  bool addDofs(
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _addJoint = true,
      bool _warning = true);

  bool removeDof(
      DegreeOfFreedom* _dof, bool _cleanupJoint = true, bool _warning = true);

  bool removeDofs(
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _cleanupJoint = true,
      bool _warning = true);

protected:
  Group(
      const std::string& _name,
      const std::vector<BodyNode*>& _bodyNodes,
      bool _includeJoints,
      bool _includeDofs);

  Group(
      const std::string& _name,
      const std::vector<DegreeOfFreedom*>& _dofs,
      bool _includeBodyNodes,
      bool _includeJoints);

  Group(const std::string& _name, const MetaSkeletonPtr& _metaSkeleton);
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_GROUP_HPP_