body.hh

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//
// Copyright (c) 2016 CNRS
// Author: NMansard from Florent Lamiraux
//
//
// This file is part of hpp-pinocchio
// hpp-pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-pinocchio  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_PINOCCHIO_BODY_HH
# define HPP_PINOCCHIO_BODY_HH

# include <hpp/util/pointer.hh>

# include <pinocchio/multibody/fwd.hpp>

# include <hpp/pinocchio/config.hh>
# include <hpp/pinocchio/fwd.hh>

namespace hpp {
  namespace pinocchio {

    class HPP_PINOCCHIO_DLLAPI Body
    {
    public:
      Body (DeviceWkPtr_t device, JointIndex joint);

      virtual ~Body () {}


      const std::string & name () const;

      JointPtr_t joint () const;


      size_type nbInnerObjects () const;

      CollisionObjectPtr_t innerObjectAt (const size_type& i) const;

      value_type radius () const;

      size_type nbOuterObjects () const;

      CollisionObjectPtr_t outerObjectAt (const size_type& i) const;

      const vector3_t& localCenterOfMass () const;
      matrix3_t inertiaMatrix() const;
      value_type mass() const;

    private:
      void selfAssert() const;
      void searchFrameIndex() const; 

      const Model&  model() const ;
      Model&        model() ;
      const ::pinocchio::Frame & frame() const ;
      ::pinocchio::Frame &       frame() ;

      DeviceWkPtr_t devicePtr;
      JointIndex jointIndex;
      mutable FrameIndex frameIndex; // In pinocchio, bodies are stored as frames of type BODY.
      mutable bool       frameIndexSet;
    }; // class Body
  } // namespace pinocchio
} // namespace hpp
#endif // HPP_PINOCCHIO_BODY_HH