Model.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * 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
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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//
 
#ifndef RL_PLAN_MODEL_H
#define RL_PLAN_MODEL_H
 
#include <rl/kin/Kinematics.h>
#include <rl/math/Transform.h>
#include <rl/math/Vector.h>
#include <rl/mdl/Dynamic.h>
#include <rl/sg/Model.h>
#include <rl/sg/Scene.h>
 
namespace rl
{
    namespace plan
    {
        class Model
        {
        public:
            Model();
            
            virtual ~Model();
            
            virtual bool areColliding(const ::std::size_t& i, const ::std::size_t& j) const;
            
            virtual void clip(::rl::math::Vector& q) const;
            
            virtual ::rl::math::Real distance(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2) const;
            
            virtual void forwardForce(const ::rl::math::Vector& tau, ::rl::math::Vector& f) const;
            
            virtual const ::rl::math::Transform& forwardPosition(const ::std::size_t& i = 0) const;
            
            virtual void forwardVelocity(const ::rl::math::Vector& qdot, ::rl::math::Vector& xdot) const;
            
            virtual ::rl::math::Vector generatePositionGaussian(const ::rl::math::Vector& rand, const ::rl::math::Vector& mean, const ::rl::math::Vector& sigma) const;
            
            virtual ::rl::math::Vector generatePositionUniform(const ::rl::math::Vector& rand) const;
            
            virtual ::rl::sg::Body* getBody(const ::std::size_t& i) const;
            
            virtual ::std::size_t getBodies() const;
            
            virtual ::rl::math::Vector3& getCenter(const ::std::size_t& i) const;
            
            virtual ::std::size_t getDof() const;
            
            virtual ::std::size_t getDofPosition() const;
            
            virtual const ::rl::math::Transform& getFrame(const ::std::size_t& i) const;
            
            virtual const ::rl::math::Matrix& getJacobian() const;
            
            virtual ::rl::math::Real getManipulabilityMeasure() const;
            
            virtual ::std::string getManufacturer() const;
            
            virtual ::rl::math::Vector getMaximum() const;
            
            virtual ::rl::math::Vector getMinimum() const;
            
            virtual ::std::string getName() const;
            
            virtual ::std::size_t getOperationalDof() const;
            
            virtual ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1> getPositionUnits() const;
            
            virtual void inverseForce(const ::rl::math::Vector& f, ::rl::math::Vector& tau) const;
            
            virtual ::rl::math::Real inverseOfTransformedDistance(const ::rl::math::Real& d) const;
            
            virtual void inverseVelocity(const ::rl::math::Vector& tdot, ::rl::math::Vector& qdot) const;
            
            virtual void interpolate(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2, const ::rl::math::Real& alpha, ::rl::math::Vector& q) const;
            
            virtual bool isColliding(const ::std::size_t& i) const;
            
            virtual bool isSingular() const;
            
            virtual bool isValid(const ::rl::math::Vector& q) const;
            
            virtual ::rl::math::Real maxDistanceToRectangle(const ::rl::math::Vector& q, const ::rl::math::Vector& min, const ::rl::math::Vector& max) const;
            
            virtual ::rl::math::Real minDistanceToRectangle(const ::rl::math::Vector& q, const ::rl::math::Vector& min, const ::rl::math::Vector& max) const;
            
            virtual ::rl::math::Real minDistanceToRectangle(const ::rl::math::Real& q, const ::rl::math::Real& min, const ::rl::math::Real& max, const ::std::size_t& cuttingDimension) const;
            
            virtual ::rl::math::Real newDistance(const ::rl::math::Real& dist, const ::rl::math::Real& oldOff, const ::rl::math::Real& newOff, const int& cuttingDimension) const;
            
            virtual void reset();
            
            virtual void setPosition(const ::rl::math::Vector& q);
            
            virtual void step(const ::rl::math::Vector& q1, const ::rl::math::Vector& qdot, ::rl::math::Vector& q2) const;
            
            virtual ::rl::math::Real transformedDistance(const ::rl::math::Real& d) const;
            
            virtual ::rl::math::Real transformedDistance(const ::rl::math::Vector& q1, const ::rl::math::Vector& q2) const;
            
            virtual ::rl::math::Real transformedDistance(const ::rl::math::Real& q1, const ::rl::math::Real& q2, const ::std::size_t& i) const;
            
            virtual void updateFrames(const bool& doUpdateModel = true);
            
            virtual void updateJacobian();
            
            virtual void updateJacobianInverse(const ::rl::math::Real& lambda = 0.0f, const bool& doSvd = true);
            
            ::rl::kin::Kinematics* kin;
            
            ::rl::mdl::Dynamic* mdl;
            
            ::rl::sg::Model* model;
            
            ::rl::sg::Scene* scene;
            
        protected:
            
        private:
            
        };
    }
}
 
#endif // RL_PLAN_MODEL_H