Marker.hpp

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#ifndef DART_DYNAMICS_MARKER_HPP_
#define DART_DYNAMICS_MARKER_HPP_

#include <Eigen/Dense>
#include "dart/common/Deprecated.hpp"
#include "dart/dynamics/FixedJacobianNode.hpp"
#include "dart/dynamics/detail/MarkerAspect.hpp"

namespace dart {
namespace dynamics {

class BodyNode;

class Marker final : public common::EmbedPropertiesOnTopOf<
                         Marker,
                         detail::MarkerProperties,
                         FixedJacobianNode>
{
public:
  using ConstraintType = detail::MarkerProperties::ConstraintType;
  static constexpr ConstraintType NO = detail::MarkerProperties::NO;
  static constexpr ConstraintType HARD = detail::MarkerProperties::HARD;
  static constexpr ConstraintType SOFT = detail::MarkerProperties::SOFT;

  using BasicProperties
      = common::Composite::MakeProperties<NameAspect, FixedFrame, Marker>;

  using Properties = common::Composite::Properties;

  virtual ~Marker() = default;

  void setAspectProperties(const AspectProperties& properties);

  DART_DEPRECATED(6.0)
  BodyNode* getBodyNode();

  DART_DEPRECATED(6.0)
  const BodyNode* getBodyNode() const;

  Eigen::Vector3d getLocalPosition() const;

  void setLocalPosition(const Eigen::Vector3d& offset);

  Eigen::Vector3d getWorldPosition() const;

  int getID() const;

  void setConstraintType(ConstraintType type);

  ConstraintType getConstraintType() const;

  void setColor(const Eigen::Vector4d& color);

  const Eigen::Vector4d& getColor() const;

  friend class BodyNode;

protected:
  Marker(BodyNode* parent, const BasicProperties& properties);

  // Documentation inherited
  Node* cloneNode(BodyNode* parent) const override;

private:
  int mID;

  static int msMarkerCount;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_MARKER_HPP_