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/*
* Copyright (c) 2011-2022, 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.
*/
#include "Humanoid.hpp"
#include "State.hpp"
// Macro for functions not implemented yet
#define NOT_YET(FUNCTION) \
std::cout << #FUNCTION << "Not implemented yet." << std::endl;
using namespace std;
using namespace Eigen;
using namespace dart::dynamics;
using namespace dart::constraint;
//==============================================================================
Humanoid::Humanoid(Skeleton* /*_skeleton*/)
: mSkeleton(nullptr),
mPelvis(nullptr),
mLeftThigh(nullptr),
mRightThigh(nullptr),
mLeftFoot(nullptr),
mRightFoot(nullptr)
{
}
//==============================================================================
Humanoid::~Humanoid() {}
//==============================================================================
Skeleton* Humanoid::getSkeleton()
{
return mSkeleton;
}
//==============================================================================
BodyNode* Humanoid::getPelvis()
{
return mPelvis;
}
//==============================================================================
BodyNode* Humanoid::getLeftThigh()
{
return mLeftThigh;
}
//==============================================================================
BodyNode* Humanoid::getRightThigh()
{
return mRightThigh;
}
//==============================================================================
BodyNode* Humanoid::getLeftFoot()
{
return mLeftFoot;
}
//==============================================================================
BodyNode* Humanoid::getRightFoot()
{
return mRightFoot;
}
//==============================================================================
AtlasRobot::AtlasRobot(Skeleton* _skeleton) : Humanoid(_skeleton) {}
//==============================================================================
AtlasRobot::~AtlasRobot()
{
mPelvis = mSkeleton->getBodyNode("pelvis");
mLeftFoot = mSkeleton->getBodyNode("l_foot");
mRightFoot = mSkeleton->getBodyNode("r_foot");
mLeftThigh = mSkeleton->getBodyNode("l_uleg");
mRightThigh = mSkeleton->getBodyNode("r_uleg");
assert(mPelvis != nullptr);
assert(mLeftFoot != nullptr);
assert(mRightFoot != nullptr);
assert(mLeftThigh != nullptr);
assert(mRightThigh != nullptr);
}
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