MetaSkeleton.hpp

/*
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#ifndef DART_DYNAMICS_METASKELETON_HPP_
#define DART_DYNAMICS_METASKELETON_HPP_

#include <string>
#include <vector>

#include <Eigen/Dense>

#include "dart/common/LockableReference.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/InvalidIndex.hpp"
#include "dart/math/Geometry.hpp"

namespace dart {
namespace dynamics {

class BodyNode;
class SoftBodyNode;
class PointMass;
class Joint;
class DegreeOfFreedom;
class Marker;

class MetaSkeleton : public common::Subject
{
public:
  using NameChangedSignal = common::Signal<void(
      std::shared_ptr<const MetaSkeleton> _skeleton,
      const std::string& _oldName,
      const std::string& _newName)>;

  MetaSkeleton(const MetaSkeleton&) = delete;

  virtual ~MetaSkeleton() = default;

  virtual MetaSkeletonPtr cloneMetaSkeleton(
      const std::string& cloneName) const = 0;
  // TODO: In DART7, rename this to clone() and change the current
  // Skeleton::clone() to override it.

  MetaSkeletonPtr cloneMetaSkeleton() const;

  virtual std::unique_ptr<common::LockableReference> getLockableReference()
      const = 0;
  // TODO: In DART7, rename this to getMutex() and change the current
  // Skeleton::getMutex() to override it.

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

  virtual const std::string& setName(const std::string& _name) = 0;

  virtual const std::string& getName() const = 0;


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

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

  virtual BodyNode* getBodyNode(std::size_t _idx) = 0;

  virtual const BodyNode* getBodyNode(std::size_t _idx) const = 0;

  virtual BodyNode* getBodyNode(const std::string& name) = 0;

  virtual const BodyNode* getBodyNode(const std::string& name) const = 0;

  virtual const std::vector<BodyNode*>& getBodyNodes() = 0;

  virtual const std::vector<const BodyNode*>& getBodyNodes() const = 0;

  virtual std::vector<BodyNode*> getBodyNodes(const std::string& name) = 0;

  virtual std::vector<const BodyNode*> getBodyNodes(
      const std::string& name) const = 0;

  virtual bool hasBodyNode(const BodyNode* bodyNode) const = 0;

  virtual std::size_t getIndexOf(
      const BodyNode* _bn, bool _warning = true) const = 0;

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

  virtual Joint* getJoint(std::size_t _idx) = 0;

  virtual const Joint* getJoint(std::size_t _idx) const = 0;

  virtual Joint* getJoint(const std::string& name) = 0;

  virtual const Joint* getJoint(const std::string& name) const = 0;

  virtual std::vector<Joint*> getJoints() = 0;

  virtual std::vector<const Joint*> getJoints() const = 0;

  virtual std::vector<Joint*> getJoints(const std::string& name) = 0;

  virtual std::vector<const Joint*> getJoints(
      const std::string& name) const = 0;

  virtual bool hasJoint(const Joint* joint) const = 0;

  virtual std::size_t getIndexOf(
      const Joint* _joint, bool _warning = true) const = 0;

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

  virtual DegreeOfFreedom* getDof(std::size_t _idx) = 0;

  virtual const DegreeOfFreedom* getDof(std::size_t _idx) const = 0;

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

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

  virtual std::size_t getIndexOf(
      const DegreeOfFreedom* _dof, bool _warning = true) const = 0;


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

  void setCommand(std::size_t _index, double _command);

  double getCommand(std::size_t _index) const;

  void setCommands(const Eigen::VectorXd& _commands);

  void setCommands(
      const std::vector<std::size_t>& _indices,
      const Eigen::VectorXd& _commands);

  Eigen::VectorXd getCommands() const;

  Eigen::VectorXd getCommands(const std::vector<std::size_t>& _indices) const;

  void resetCommands();


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

  void setPosition(std::size_t index, double _position);

  double getPosition(std::size_t _index) const;

  void setPositions(const Eigen::VectorXd& _positions);

  void setPositions(
      const std::vector<std::size_t>& _indices,
      const Eigen::VectorXd& _positions);

  Eigen::VectorXd getPositions() const;

  Eigen::VectorXd getPositions(const std::vector<std::size_t>& _indices) const;

  void resetPositions();

  void setPositionLowerLimit(std::size_t _index, double _position);

  void setPositionLowerLimits(const Eigen::VectorXd& positions);

  void setPositionLowerLimits(
      const std::vector<std::size_t>& indices,
      const Eigen::VectorXd& positions);

  double getPositionLowerLimit(std::size_t _index) const;

  Eigen::VectorXd getPositionLowerLimits() const;

  Eigen::VectorXd getPositionLowerLimits(
      const std::vector<std::size_t>& indices) const;

  void setPositionUpperLimit(std::size_t _index, double _position);

  void setPositionUpperLimits(const Eigen::VectorXd& positions);

  void setPositionUpperLimits(
      const std::vector<std::size_t>& indices,
      const Eigen::VectorXd& positions);

  double getPositionUpperLimit(std::size_t _index) const;

  Eigen::VectorXd getPositionUpperLimits() const;

  Eigen::VectorXd getPositionUpperLimits(
      const std::vector<std::size_t>& indices) const;


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

  void setVelocity(std::size_t _index, double _velocity);

  double getVelocity(std::size_t _index) const;

  void setVelocities(const Eigen::VectorXd& _velocities);

  void setVelocities(
      const std::vector<std::size_t>& _indices,
      const Eigen::VectorXd& _velocities);

  Eigen::VectorXd getVelocities() const;

  Eigen::VectorXd getVelocities(const std::vector<std::size_t>& _indices) const;

  void resetVelocities();

  void setVelocityLowerLimit(std::size_t _index, double _velocity);

  void setVelocityLowerLimits(const Eigen::VectorXd& velocities);

  void setVelocityLowerLimits(
      const std::vector<std::size_t>& indices,
      const Eigen::VectorXd& velocities);

  double getVelocityLowerLimit(std::size_t _index);

  Eigen::VectorXd getVelocityLowerLimits() const;

  Eigen::VectorXd getVelocityLowerLimits(
      const std::vector<std::size_t>& indices) const;

  void setVelocityUpperLimit(std::size_t _index, double _velocity);

  void setVelocityUpperLimits(const Eigen::VectorXd& velocities);

  void setVelocityUpperLimits(
      const std::vector<std::size_t>& indices,
      const Eigen::VectorXd& velocities);

  double getVelocityUpperLimit(std::size_t _index);

  Eigen::VectorXd getVelocityUpperLimits() const;

  Eigen::VectorXd getVelocityUpperLimits(
      const std::vector<std::size_t>& indices) const;


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

  void setAcceleration(std::size_t _index, double _acceleration);

  double getAcceleration(std::size_t _index) const;

  void setAccelerations(const Eigen::VectorXd& _accelerations);

  void setAccelerations(
      const std::vector<std::size_t>& _indices,
      const Eigen::VectorXd& _accelerations);

  Eigen::VectorXd getAccelerations() const;

  Eigen::VectorXd getAccelerations(
      const std::vector<std::size_t>& _indices) const;

  void resetAccelerations();

  void setAccelerationLowerLimit(std::size_t _index, double _acceleration);

  void setAccelerationLowerLimits(const Eigen::VectorXd& accelerations);

  void setAccelerationLowerLimits(
      const std::vector<std::size_t>& indices,
      const Eigen::VectorXd& accelerations);

  double getAccelerationLowerLimit(std::size_t _index) const;

  Eigen::VectorXd getAccelerationLowerLimits() const;

  Eigen::VectorXd getAccelerationLowerLimits(
      const std::vector<std::size_t>& indices) const;

  void setAccelerationUpperLimit(std::size_t _index, double _acceleration);

  void setAccelerationUpperLimits(const Eigen::VectorXd& accelerations);

  void setAccelerationUpperLimits(
      const std::vector<std::size_t>& indices,
      const Eigen::VectorXd& accelerations);

  double getAccelerationUpperLimit(std::size_t _index) const;

  Eigen::VectorXd getAccelerationUpperLimits() const;

  Eigen::VectorXd getAccelerationUpperLimits(
      const std::vector<std::size_t>& indices) const;


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

  void setForce(std::size_t _index, double _force);

  double getForce(std::size_t _index) const;

  void setForces(const Eigen::VectorXd& _forces);

  void setForces(
      const std::vector<std::size_t>& _index, const Eigen::VectorXd& _forces);

  Eigen::VectorXd getForces() const;

  Eigen::VectorXd getForces(const std::vector<std::size_t>& _indices) const;

  void resetGeneralizedForces();

  void setForceLowerLimit(std::size_t _index, double _force);

  void setForceLowerLimits(const Eigen::VectorXd& forces);

  void setForceLowerLimits(
      const std::vector<std::size_t>& indices, const Eigen::VectorXd& forces);

  double getForceLowerLimit(std::size_t _index) const;

  Eigen::VectorXd getForceLowerLimits() const;

  Eigen::VectorXd getForceLowerLimits(
      const std::vector<std::size_t>& indices) const;

  void setForceUpperLimit(std::size_t _index, double _force);

  void setForceUpperLimits(const Eigen::VectorXd& forces);

  void setForceUpperLimits(
      const std::vector<std::size_t>& indices, const Eigen::VectorXd& forces);

  double getForceUpperLimit(std::size_t _index) const;

  Eigen::VectorXd getForceUpperLimits() const;

  Eigen::VectorXd getForceUpperLimits(
      const std::vector<std::size_t>& indices) const;


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

  Eigen::VectorXd getVelocityChanges() const;

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

  void setJointConstraintImpulses(const Eigen::VectorXd& _impulses);

  Eigen::VectorXd getJointConstraintImpulses() const;

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

  virtual math::Jacobian getJacobian(const JacobianNode* _node) const = 0;

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

  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;

  virtual math::Jacobian getJacobian(
      const JacobianNode* _node, const Eigen::Vector3d& _localOffset) const = 0;

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

  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;

  virtual math::Jacobian getWorldJacobian(const JacobianNode* _node) const = 0;

  virtual math::Jacobian getWorldJacobian(
      const JacobianNode* _node, const Eigen::Vector3d& _localOffset) const = 0;

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

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

  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf = Frame::World()) const;

  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf = Frame::World()) const;


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

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

  math::AngularJacobian getAngularJacobian(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf = Frame::World()) const;

  virtual math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node) const = 0;

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

  virtual math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node, const Eigen::Vector3d& _localOffset) const = 0;

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

  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;

  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const JacobianNode* _relativeTo,
      const Frame* _inCoordinatesOf) const;

  virtual math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node) const = 0;

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

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

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

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

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


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

  virtual double getMass() const = 0;

  virtual const Eigen::MatrixXd& getMassMatrix() const = 0;

  virtual const Eigen::MatrixXd& getAugMassMatrix() const = 0;

  virtual const Eigen::MatrixXd& getInvMassMatrix() const = 0;

  virtual const Eigen::MatrixXd& getInvAugMassMatrix() const = 0;

  virtual const Eigen::VectorXd& getCoriolisForces() const = 0;

  virtual const Eigen::VectorXd& getGravityForces() const = 0;

  virtual const Eigen::VectorXd& getCoriolisAndGravityForces() const = 0;

  virtual const Eigen::VectorXd& getExternalForces() const = 0;

  virtual const Eigen::VectorXd& getConstraintForces() const = 0;

  virtual void clearExternalForces() = 0;

  virtual void clearInternalForces() = 0;

  double computeLagrangian() const;

  DART_DEPRECATED(6.1)
  double getKineticEnergy() const;

  virtual double computeKineticEnergy() const = 0;

  DART_DEPRECATED(6.1)
  double getPotentialEnergy() const;

  virtual double computePotentialEnergy() const = 0;

  DART_DEPRECATED(6.0)
  virtual void clearCollidingBodies() = 0;


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

  virtual Eigen::Vector3d getCOM(
      const Frame* _withRespectTo = Frame::World()) const = 0;

  virtual Eigen::Vector6d getCOMSpatialVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual Eigen::Vector3d getCOMLinearVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual Eigen::Vector6d getCOMSpatialAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

  virtual Eigen::Vector3d getCOMLinearAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const = 0;

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

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

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

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


protected:
  MetaSkeleton();

  //--------------------------------------------------------------------------
  // Signals
  //--------------------------------------------------------------------------
  NameChangedSignal mNameChangedSignal;

public:
  //--------------------------------------------------------------------------
  // Slot registers
  //--------------------------------------------------------------------------
  common::SlotRegister<NameChangedSignal> onNameChanged;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_METASKELETON_HPP_