SimpleFrame.hpp

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#ifndef DART_DYNAMICS_SIMPLEFRAME_HPP_
#define DART_DYNAMICS_SIMPLEFRAME_HPP_

#include "dart/dynamics/ShapeNode.hpp"

namespace dart {
namespace dynamics {

class SimpleFrame : public Detachable, public ShapeFrame
{
public:
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SimpleFrame)

  
  explicit SimpleFrame(
      Frame* _refFrame = Frame::World(),
      const std::string& _name = "simple_frame",
      const Eigen::Isometry3d& _relativeTransform
      = Eigen::Isometry3d::Identity());

  SimpleFrame(
      const SimpleFrame& _otherFrame, Frame* _refFrame = Frame::World());

  ~SimpleFrame() override;

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

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

  std::shared_ptr<SimpleFrame> clone(Frame* _refFrame = Frame::World()) const;

  void copy(
      const Frame& _otherFrame,
      Frame* _refFrame = Frame::World(),
      bool _copyProperties = true);

  void copy(
      const Frame* _otherFrame,
      Frame* _refFrame = Frame::World(),
      bool _copyProperties = true);

  SimpleFrame& operator=(const SimpleFrame& _otherFrame);

  std::shared_ptr<SimpleFrame> spawnChildSimpleFrame(
      const std::string& name = "SimpleFrame",
      const Eigen::Isometry3d& relativeTransform
      = Eigen::Isometry3d::Identity());

  //--------------------------------------------------------------------------
  // Transform
  //--------------------------------------------------------------------------

  void setRelativeTransform(const Eigen::Isometry3d& _newRelTransform);

  void setRelativeTranslation(const Eigen::Vector3d& _newTranslation);

  void setRelativeRotation(const Eigen::Matrix3d& _newRotation);

  void setTransform(
      const Eigen::Isometry3d& _newTransform,
      const Frame* _withRespectTo = Frame::World());

  void setTranslation(
      const Eigen::Vector3d& _newTranslation,
      const Frame* _withRespectTo = Frame::World());

  void setRotation(
      const Eigen::Matrix3d& _newRotation,
      const Frame* _withRespectTo = Frame::World());

  // Documentation inherited
  const Eigen::Isometry3d& getRelativeTransform() const override;

  //--------------------------------------------------------------------------
  // Velocity
  //--------------------------------------------------------------------------

  void setRelativeSpatialVelocity(const Eigen::Vector6d& _newSpatialVelocity);

  void setRelativeSpatialVelocity(
      const Eigen::Vector6d& _newSpatialVelocity,
      const Frame* _inCoordinatesOf);

  // Documentation inherited
  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;

  //--------------------------------------------------------------------------
  // Acceleration
  //--------------------------------------------------------------------------

  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& _newSpatialAcceleration);

  void setRelativeSpatialAcceleration(
      const Eigen::Vector6d& _newSpatialAcceleration,
      const Frame* _inCoordinatesOf);

  // Documentation inherited
  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;

  // Documentation inherited
  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;

  // Documentation inherited
  const Eigen::Vector6d& getPartialAcceleration() const override;

  //--------------------------------------------------------------------------
  // Classic Method
  //--------------------------------------------------------------------------

  void setClassicDerivatives(
      const Eigen::Vector3d& _linearVelocity = Eigen::Vector3d::Zero(),
      const Eigen::Vector3d& _angularVelocity = Eigen::Vector3d::Zero(),
      const Eigen::Vector3d& _linearAcceleration = Eigen::Vector3d::Zero(),
      const Eigen::Vector3d& _angularAcceleration = Eigen::Vector3d::Zero());

protected:
  std::string mName;

  Eigen::Isometry3d mRelativeTf;

  Eigen::Vector6d mRelativeVelocity;

  Eigen::Vector6d mRelativeAcceleration;

  mutable Eigen::Vector6d mPartialAcceleration;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_SIMPLEFRAME_HPP_