TemplatedJacobianNode.hpp

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#ifndef DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
#define DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_

#include "dart/dynamics/JacobianNode.hpp"

namespace dart {
namespace dynamics {

template <class NodeType>
class TemplatedJacobianNode : public JacobianNode
{
public:
  // Documentation inherited
  math::Jacobian getJacobian(
      const Frame* _inCoordinatesOf) const override final;

  // Documentation inherited
  math::Jacobian getJacobian(
      const Eigen::Vector3d& _offset) const override final;

  // Documentation inherited
  math::Jacobian getJacobian(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf) const override final;

  // Documentation inherited
  math::Jacobian getWorldJacobian(
      const Eigen::Vector3d& _offset) const override final;

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

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

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

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const Frame* _inCoordinatesOf) const override final;

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset) const override final;

  // Documentation inherited
  math::Jacobian getJacobianSpatialDeriv(
      const Eigen::Vector3d& _offset,
      const Frame* _inCoordinatesOf) const override final;

  // Documentation inherited
  math::Jacobian getJacobianClassicDeriv(
      const Frame* _inCoordinatesOf) const override final;

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

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

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

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

protected:
  TemplatedJacobianNode(BodyNode* bn);
};

} // namespace dynamics
} // namespace dart

#include "dart/dynamics/detail/TemplatedJacobianNode.hpp"

#endif // DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_