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// |
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// Copyright (c) 2016 CNRS |
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// Author: NMansard from Florent Lamiraux |
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// |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_PINOCCHIO_BODY_HH |
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#define HPP_PINOCCHIO_BODY_HH |
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#include <hpp/pinocchio/config.hh> |
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#include <hpp/pinocchio/fwd.hh> |
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#include <hpp/util/pointer.hh> |
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#include <pinocchio/multibody/fwd.hpp> |
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namespace hpp { |
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namespace pinocchio { |
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/// Geometry associated to a Joint |
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/// |
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/// A body is a geometry container attached to a joint. |
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/// The body contains objects (CollisionObject) that move with the joint and |
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/// called <em>inner objects</em>. |
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/// |
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/// Collision and distance computation is performed against other objects |
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/// that can be obstacles or objects attached to other joints. These object |
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/// are called <em>outer objects</em> for the body. |
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class HPP_PINOCCHIO_DLLAPI Body { |
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public: |
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/// \name Construction and copy and destruction |
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/// @{ |
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/// Constructor |
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Body(DeviceWkPtr_t device, JointIndex joint); |
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virtual ~Body() {} |
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/// @} |
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/// \name Name |
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/// \{ |
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/// Get name |
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const std::string& name() const; |
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/// \} |
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/// Get joint holding the body |
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JointPtr_t joint() const; |
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/// \name Inner/outer objects |
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/// \{ |
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/// Number of inner objects. |
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size_type nbInnerObjects() const; |
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/// Access to an inner object. |
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CollisionObjectPtr_t innerObjectAt(const size_type& i) const; |
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/// Get radius |
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/// |
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/// Radius is defined as an upper-bound to the distance of all points of |
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/// the body to the origin of the joint that holds the body. |
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value_type radius() const; |
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/// Number of outer objects. |
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size_type nbOuterObjects() const; |
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/// Access to an outer object. |
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CollisionObjectPtr_t outerObjectAt(const size_type& i) const; |
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/// \} |
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/// \name Inertial information |
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/// @{ |
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/// Get position of center of mass in joint local reference frame. |
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const vector3_t& localCenterOfMass() const; |
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/// Get Intertia matrix expressed in joint local reference frame. |
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matrix3_t inertiaMatrix() const; |
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/// Get mass. |
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value_type mass() const; |
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/// @} |
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private: |
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/// Assert that the members of the struct are valid (no null pointer, etc). |
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void selfAssert() const; |
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/// If frameIndex==-1 (after init), search in pinocchio frame list the proper |
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/// index. |
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void searchFrameIndex() const; |
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const Model& model() const; |
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Model& model(); |
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const ::pinocchio::Frame& frame() const; |
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::pinocchio::Frame& frame(); |
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DeviceWkPtr_t devicePtr; |
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JointIndex jointIndex; |
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mutable FrameIndex |
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frameIndex; // In pinocchio, bodies are stored as frames of type BODY. |
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mutable bool frameIndexSet; |
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}; // class Body |
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} // namespace pinocchio |
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} // namespace hpp |
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#endif // HPP_PINOCCHIO_BODY_HH |
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