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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* 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 DART_DYNAMICS_SHAPENODE_HPP_
#define DART_DYNAMICS_SHAPENODE_HPP_
#include <Eigen/Dense>
#include "dart/common/Signal.hpp"
#include "dart/dynamics/detail/ShapeNode.hpp"
namespace dart {
namespace dynamics {
class VisualAspect;
class CollisionAspect;
class DynamicsAspect;
class ShapeNode : public detail::ShapeNodeCompositeBase
{
public:
friend class BodyNode;
using ShapeUpdatedSignal = common::Signal<void(
const ShapeNode* thisShapeNode,
const ShapePtr& oldShape,
const ShapePtr& newShape)>;
using RelativeTransformUpdatedSignal = common::Signal<void(
const ShapeNode* thisShapeNode,
const Eigen::Isometry3d& oldTransform,
const Eigen::Isometry3d& newTransform)>;
using BasicProperties
= common::Composite::MakeProperties<NameAspect, FixedFrame, ShapeFrame>;
using Properties = common::Composite::Properties;
/// Destructor
virtual ~ShapeNode() = default;
/// Set the Properties of this ShapeNode
void setProperties(const Properties& properties);
/// Get the Properties of this ShapeNode
const Properties getShapeNodeProperties() const;
/// Copy the properties of another ShapeNode
void copy(const ShapeNode& other);
/// Copy the properties of another ShapeNode
void copy(const ShapeNode* other);
/// Same as copy(const ShapeNode&)
ShapeNode& operator=(const ShapeNode& other);
/// Set transformation of this shape node relative to the parent frame
void setRelativeTransform(const Eigen::Isometry3d& transform) override;
/// Set rotation of this shape node relative to the parent frame
void setRelativeRotation(const Eigen::Matrix3d& rotation);
/// Get rotation of this shape node relative to the parent frame
Eigen::Matrix3d getRelativeRotation() const;
/// Set translation of this shape node relative to the parent frame
void setRelativeTranslation(const Eigen::Vector3d& translation);
/// Same as setRelativeTranslation(offset)
void setOffset(const Eigen::Vector3d& offset);
/// Get translation of this shape node relative to the parent frame
Eigen::Vector3d getRelativeTranslation() const;
/// Same as getRelativeTranslation()
Eigen::Vector3d getOffset() const;
// Documentation inherited
ShapeNode* asShapeNode() override;
// Documentation inherited
const ShapeNode* asShapeNode() const override;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
protected:
/// Constructor used by the Skeleton class
ShapeNode(BodyNode* bodyNode, const BasicProperties& properties);
/// Constructor used by the Skeleton class
ShapeNode(
BodyNode* bodyNode,
const ShapePtr& shape,
const std::string& name = "ShapeNode");
/// Create a clone of this ShapeNode. This may only be called by the Skeleton
/// class.
Node* cloneNode(BodyNode* parent) const override;
};
} // namespace dynamics
} // namespace dart
#endif // DART_DYNAMICS_SHAPENODE_HPP_
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