Frame.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
// 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 RL_MDL_FRAME_H
#define RL_MDL_FRAME_H
 
#include <boost/graph/adjacency_list.hpp>
#include <rl/math/Transform.h>
#include <rl/math/Spatial.h>
#include <rl/math/Vector.h>
 
#include "Element.h"
 
namespace rl
{
    namespace mdl
    {
        class Frame : public Element
        {
        public:
            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
            
            typedef ::boost::adjacency_list<
                ::boost::listS,
                ::boost::listS,
                ::boost::bidirectionalS,
                ::boost::listS
            > Tree;
            
            typedef Tree::vertex_descriptor Vertex;
            
            Frame();
            
            virtual ~Frame();
            
            virtual void forwardAcceleration();
            
            virtual void forwardDynamics1();
            
            virtual void forwardDynamics2();
            
            virtual void forwardDynamics3();
            
            virtual void forwardPosition();
            
            virtual void forwardVelocity();
            
            const Vertex& getVertexDescriptor() const;
            
            virtual void inverseDynamics1();
            
            virtual void inverseDynamics2();
            
            virtual void inverseForce();
            
            void setVertexDescriptor(const Vertex& descriptor);
            
            ::rl::math::MotionVector a;
            
            ::rl::math::MotionVector c;
            
            ::rl::math::ForceVector f;
            
            ::rl::math::RigidBodyInertia i;
            
            ::rl::math::ArticulatedBodyInertia iA;
            
            ::rl::math::ForceVector pA;
            
            ::rl::math::Transform t;
            
            ::rl::math::MotionVector v;
            
            ::rl::math::PlueckerTransform x;
            
        protected:
            
        private:
            Vertex descriptor;
        };
    }
}
 
#endif // RL_MDL_FRAME_H