frame.hh

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//
// Copyright (c) 2017 CNRS
// Author: Joseph Mirabel
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_PINOCCHIO_FRAME_HH
#define HPP_PINOCCHIO_FRAME_HH
 
#include <cstddef>
#include <hpp/pinocchio/config.hh>
#include <hpp/pinocchio/deprecated.hh>
#include <hpp/pinocchio/fwd.hh>
 
namespace hpp {
namespace pinocchio {
class HPP_PINOCCHIO_DLLAPI Frame {
 public:
 
  Frame(DeviceWkPtr_t device, FrameIndex indexInFrameList);
 
  ~Frame() {}
  // -----------------------------------------------------------------------
 
  const std::string& name() const;
 
  // -----------------------------------------------------------------------
 
  Transform3s currentTransformation() const;
 
  Transform3s currentTransformation(const DeviceData& data) const;
 
  JointJacobian_t jacobian() const { return jacobian(data()); }
 
  JointJacobian_t jacobian(const DeviceData& data) const;
 
  // -----------------------------------------------------------------------
 
  bool isFixed() const;
 
  JointPtr_t joint() const;
 
  Frame parentFrame() const;
 
  bool isRootFrame() const;
 
  const std::vector<FrameIndex>& children() {
    setChildList();
    return children_;
  }
 
  const Transform3s& positionInParentJoint() const;
 
  Transform3s positionInParentFrame() const;
 
  void positionInParentFrame(const Transform3s& p);
 
 public:
  // -----------------------------------------------------------------------
 
  DeviceConstPtr_t robot() const {
    selfAssert();
    return devicePtr_.lock();
  }
  DevicePtr_t robot() {
    selfAssert();
    return devicePtr_.lock();
  }
 
  virtual std::ostream& display(std::ostream& os) const;
 
 
  const FrameIndex& index() const { return frameIndex_; }
 
  const ::pinocchio::Frame& pinocchio() const;
 
 
 private:
  DeviceWkPtr_t devicePtr_;
  FrameIndex frameIndex_;
  std::vector<FrameIndex> children_;
 
  ::pinocchio::Frame& pinocchio();
 
  void setChildList();
  Model& model();
  const Model& model() const;
  DeviceData& data() const;
 
  void selfAssert() const;
};  // class Frame
 
inline std::ostream& operator<<(std::ostream& os, const Frame& frame) {
  return frame.display(os);
}
 
}  // namespace pinocchio
}  // namespace hpp
 
#endif  // HPP_PINOCCHIO_FRAME_HH