ReferentialSkeleton.hpp

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#ifndef DART_DYNAMICS_REFERENTIALSKELETON_HPP_
#define DART_DYNAMICS_REFERENTIALSKELETON_HPP_

#include <unordered_map>
#include <unordered_set>

#include "dart/dynamics/MetaSkeleton.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class ReferentialSkeleton : public MetaSkeleton
{
public:
  ReferentialSkeleton& operator=(const ReferentialSkeleton& _other) = delete;

  virtual ~ReferentialSkeleton() = default;

  // Documentation inherited
  std::unique_ptr<common::LockableReference> getLockableReference()
      const override;

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

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

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


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

  std::size_t getNumSkeletons() const;

  bool hasSkeleton(const Skeleton* skel) const;

  // Documentation inherited
  std::size_t getNumBodyNodes() const override;

  // Documentation inherited
  BodyNode* getBodyNode(std::size_t _idx) override;

  // Documentation inherited
  const BodyNode* getBodyNode(std::size_t _idx) const override;

  BodyNode* getBodyNode(const std::string& name) override;

  const BodyNode* getBodyNode(const std::string& name) const override;

  // Documentation inherited
  const std::vector<BodyNode*>& getBodyNodes() override;

  // Documentation inherited
  const std::vector<const BodyNode*>& getBodyNodes() const override;

  std::vector<BodyNode*> getBodyNodes(const std::string& name) override;

  std::vector<const BodyNode*> getBodyNodes(
      const std::string& name) const override;

  // Documentation inherited
  bool hasBodyNode(const BodyNode* bodyNode) const override;

  // Documentation inherited
  std::size_t getIndexOf(
      const BodyNode* _bn, bool _warning = true) const override;

  // Documentation inherited
  std::size_t getNumJoints() const override;

  // Documentation inherited
  Joint* getJoint(std::size_t _idx) override;

  // Documentation inherited
  const Joint* getJoint(std::size_t _idx) const override;

  Joint* getJoint(const std::string& name) override;

  const Joint* getJoint(const std::string& name) const override;

  // Documentation inherited
  std::vector<Joint*> getJoints() override;

  // Documentation inherited
  std::vector<const Joint*> getJoints() const override;

  std::vector<Joint*> getJoints(const std::string& name) override;

  std::vector<const Joint*> getJoints(const std::string& name) const override;

  // Documentation inherited
  bool hasJoint(const Joint* joint) const override;

  // Documentation inherited
  std::size_t getIndexOf(
      const Joint* _joint, bool _warning = true) const override;

  // Documentation inherited
  std::size_t getNumDofs() const override;

  // Documentation inherited
  DegreeOfFreedom* getDof(std::size_t _idx) override;

  // Documentation inherited
  const DegreeOfFreedom* getDof(std::size_t _idx) const override;

  // Documentation inherited
  const std::vector<DegreeOfFreedom*>& getDofs() override;

  // Documentation inherited
  std::vector<const DegreeOfFreedom*> getDofs() const override;

  // Documentation inherited
  std::size_t getIndexOf(
      const DegreeOfFreedom* _dof, bool _warning = true) const override;


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

  // Documentation inherited
  math::Jacobian getJacobian(const JacobianNode* _node) const override;

  // Documentation inherited
  math::Jacobian getJacobian(
      const JacobianNode* _node, const Frame* _inCoordinatesOf) const override;

  // Documentation inherited
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const override;

  // Documentation inherited
  math::Jacobian getJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf) const override;

  // Documentation inherited
  math::Jacobian getWorldJacobian(const JacobianNode* _node) const override;

  // Documentation inherited
  math::Jacobian getWorldJacobian(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const override;

  // Documentation inherited
  math::LinearJacobian getLinearJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;

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

  // Documentation inherited
  math::AngularJacobian getAngularJacobian(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node) const override;

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node, const Frame* _inCoordinatesOf) const override;

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset) const override;

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf) const override;

  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node) const override;

  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node, const Frame* _inCoordinatesOf) const override;

  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::LinearJacobian getLinearJacobianDeriv(
      const JacobianNode* _node,
      const Eigen::Vector3d& _localOffset,
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::AngularJacobian getAngularJacobianDeriv(
      const JacobianNode* _node,
      const Frame* _inCoordinatesOf = Frame::World()) const override;


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

  double getMass() const override;

  // Documentation inherited
  const Eigen::MatrixXd& getMassMatrix() const override;

  // Documentation inherited
  const Eigen::MatrixXd& getAugMassMatrix() const override;

  // Documentation inherited
  const Eigen::MatrixXd& getInvMassMatrix() const override;

  // Documentation inherited
  const Eigen::MatrixXd& getInvAugMassMatrix() const override;

  // Documentation inherited
  const Eigen::VectorXd& getCoriolisForces() const override;

  // Documentation inherited
  const Eigen::VectorXd& getGravityForces() const override;

  // Documentation inherited
  const Eigen::VectorXd& getCoriolisAndGravityForces() const override;

  // Documentation inherited
  const Eigen::VectorXd& getExternalForces() const override;

  // Documentation inherited
  const Eigen::VectorXd& getConstraintForces() const override;

  // Documentation inherited
  void clearExternalForces() override;

  // Documentation inherited
  void clearInternalForces() override;

  // Documentation inherited
  double computeKineticEnergy() const override;

  // Documentation inherited
  double computePotentialEnergy() const override;

  // Documentation inherited
  DART_DEPRECATED(6.0)
  void clearCollidingBodies() override;


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

  // Documentation inherited
  Eigen::Vector3d getCOM(
      const Frame* _withRespectTo = Frame::World()) const override;

  // Documentation inherited
  Eigen::Vector6d getCOMSpatialVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  Eigen::Vector3d getCOMLinearVelocity(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  Eigen::Vector6d getCOMSpatialAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  Eigen::Vector3d getCOMLinearAcceleration(
      const Frame* _relativeTo = Frame::World(),
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::Jacobian getCOMJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::LinearJacobian getCOMLinearJacobian(
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::Jacobian getCOMJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const override;

  // Documentation inherited
  math::LinearJacobian getCOMLinearJacobianDeriv(
      const Frame* _inCoordinatesOf = Frame::World()) const override;


protected:
  ReferentialSkeleton() = default;

  void registerComponent(BodyNode* _bn);

  void registerBodyNode(BodyNode* _bn);

  void registerJoint(Joint* _joint);

  void registerDegreeOfFreedom(DegreeOfFreedom* _dof);

  void unregisterComponent(BodyNode* _bn);

  void unregisterBodyNode(BodyNode* _bn, bool _unregisterDofs);

  void unregisterJoint(BodyNode* _child);

  void unregisterDegreeOfFreedom(BodyNode* _bn, std::size_t _localIndex);

  void updateCaches();

  std::weak_ptr<MetaSkeleton> mPtr;

  struct IndexMap
  {
    std::size_t mBodyNodeIndex;

    std::size_t mJointIndex;

    std::vector<std::size_t> mDofIndices;

    IndexMap();

    bool isExpired() const;
  };

  std::string mName;

  std::unordered_set<const Skeleton*> mSkeletons;

  std::set<std::mutex*> mSkeletonMutexes;

  std::vector<BodyNodePtr> mBodyNodes;

  mutable std::vector<BodyNode*> mRawBodyNodes;

  mutable std::vector<const BodyNode*> mRawConstBodyNodes;

  std::vector<JointPtr> mJoints;

  std::vector<DegreeOfFreedomPtr> mDofs;

  mutable std::vector<DegreeOfFreedom*> mRawDofs;

  mutable std::vector<const DegreeOfFreedom*> mRawConstDofs;


  std::unordered_map<const BodyNode*, IndexMap> mIndexMap;

  mutable Eigen::MatrixXd mM;

  mutable Eigen::MatrixXd mAugM;

  mutable Eigen::MatrixXd mInvM;

  mutable Eigen::MatrixXd mInvAugM;

  mutable Eigen::VectorXd mCvec;

  mutable Eigen::VectorXd mG;

  mutable Eigen::VectorXd mCg;

  mutable Eigen::VectorXd mFext;

  mutable Eigen::VectorXd mFc;

private:
  void registerSkeleton(const Skeleton* skel);

  void unregisterSkeleton(const Skeleton* skel);
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_REFERENTIALSKELETON_HPP_