JacobianNode.hpp

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#ifndef DART_DYNAMICS_JACOBIANNODE_HPP_
#define DART_DYNAMICS_JACOBIANNODE_HPP_

#include <memory>
#include <unordered_set>

#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/Node.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class Skeleton;
class DegreeOfFreedom;
class InverseKinematics;

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class JacobianNode : public virtual Frame, public Node
{
public:
  virtual ~JacobianNode();

  using Node::getName;
  using Node::setName;

  const std::shared_ptr<InverseKinematics>& getIK(bool _createIfNull = false);

  const std::shared_ptr<InverseKinematics>& getOrCreateIK();

  std::shared_ptr<const InverseKinematics> getIK() const;

  const std::shared_ptr<InverseKinematics>& createIK();

  void clearIK();

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

  virtual bool dependsOn(std::size_t _genCoordIndex) const = 0;

  virtual std::size_t getNumDependentGenCoords() const = 0;

  virtual std::size_t getDependentGenCoordIndex(
      std::size_t _arrayIndex) const = 0;

  virtual const std::vector<std::size_t>& getDependentGenCoordIndices()
      const = 0;

  virtual std::size_t getNumDependentDofs() const = 0;

  virtual DegreeOfFreedom* getDependentDof(std::size_t _index) = 0;

  virtual const DegreeOfFreedom* getDependentDof(std::size_t _index) const = 0;

  virtual const std::vector<DegreeOfFreedom*>& getDependentDofs() = 0;

  virtual const std::vector<const DegreeOfFreedom*>& getDependentDofs()
      const = 0;

  virtual const std::vector<const DegreeOfFreedom*> getChainDofs() const = 0;


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

  virtual const math::Jacobian& getJacobian() const = 0;

  virtual math::Jacobian getJacobian(const Frame* _inCoordinatesOf) const = 0;

  virtual math::Jacobian getJacobian(const Eigen::Vector3d& _offset) const = 0;

  virtual math::Jacobian getJacobian(
      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const = 0;

  virtual const math::Jacobian& getWorldJacobian() const = 0;

  virtual math::Jacobian getWorldJacobian(
      const Eigen::Vector3d& _offset) const = 0;

  virtual math::LinearJacobian getLinearJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual math::LinearJacobian getLinearJacobian(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual math::AngularJacobian getAngularJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual const math::Jacobian& getJacobianSpatialDeriv() const = 0;

  virtual math::Jacobian getJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf) const = 0;

  virtual math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset) const = 0;

  virtual math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset, const Frame* _inCoordinatesOf) const = 0;

  virtual const math::Jacobian& getJacobianClassicDeriv() const = 0;

  virtual math::Jacobian getJacobianClassicDeriv(
      const Frame* _inCoordinatesOf) const = 0;

  virtual math::Jacobian getJacobianClassicDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual math::LinearJacobian getLinearJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual math::LinearJacobian getLinearJacobianDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual math::AngularJacobian getAngularJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;


  DART_DEPRECATED(6.2)
  void notifyJacobianUpdate();

  void dirtyJacobian();

  DART_DEPRECATED(6.2)
  void notifyJacobianDerivUpdate();

  void dirtyJacobianDeriv();

protected:
  JacobianNode(BodyNode* bn);

  mutable bool mIsBodyJacobianDirty;

  mutable bool mIsWorldJacobianDirty;

  mutable bool mIsBodyJacobianSpatialDerivDirty;

  mutable bool mIsWorldJacobianClassicDerivDirty;

  std::shared_ptr<InverseKinematics> mIK;

  std::unordered_set<JacobianNode*> mChildJacobianNodes;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_JACOBIANNODE_HPP_