device-sync.hh

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//
// Copyright (c) 2016 CNRS
// Author: NMansard from Florent Lamiraux
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. 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 HPP_PINOCCHIO_DEVICE_SYNC_HH
#define HPP_PINOCCHIO_DEVICE_SYNC_HH
 
#include <hpp/pinocchio/deprecated.hh>
#include <hpp/pinocchio/device-data.hh>
#include <hpp/pinocchio/fwd.hh>
 
namespace hpp {
namespace pinocchio {
class HPP_PINOCCHIO_DLLAPI AbstractDevice {
 public:

  ModelConstPtr_t modelPtr() const { return model_; }
  ModelPtr_t modelPtr() { return model_; }
  const Model& model() const {
    assert(model_);
    return *model_;
  }

  Model& model() {
    assert(model_);
    return *model_;
  }

  GeomModelConstPtr_t geomModelPtr() const { return geomModel_; }
  GeomModelPtr_t geomModelPtr() { return geomModel_; }
  const GeomModel& geomModel() const {
    assert(geomModel_);
    return *geomModel_;
  }

  GeomModel& geomModel() {
    assert(geomModel_);
    return *geomModel_;
  }

  GeomModelConstPtr_t visualModelPtr() const { return visualModel_; }
  GeomModelPtr_t visualModelPtr() { return visualModel_; }
  const GeomModel& visualModel() const {
    assert(visualModel_);
    return *visualModel_;
  }

  GeomModel& visualModel() {
    assert(visualModel_);
    return *visualModel_;
  }

  DataConstPtr_t dataPtr() const { return d().data_; }
  DataPtr_t dataPtr() { return d().data_; }
  const Data& data() const {
    assert(d().data_);
    return *d().data_;
  }

  Data& data() {
    assert(d().data_);
    return *d().data_;
  }

  GeomDataConstPtr_t geomDataPtr() const { return d().geomData_; }
  GeomDataPtr_t geomDataPtr() { return d().geomData_; }
  const GeomData& geomData() const {
    assert(d().geomData_);
    return *d().geomData_;
  }

  GeomData& geomData() {
    assert(d().geomData_);
    return *d().geomData_;
  }

  // -----------------------------------------------------------------------

  const Configuration_t& currentConfiguration() const {
    return d().currentConfiguration_;
  }

  virtual bool currentConfiguration(ConfigurationIn_t configuration);

  const vector_t& currentVelocity() const { return d().currentVelocity_; }

  bool currentVelocity(vectorIn_t velocity);

  const vector_t& currentAcceleration() const {
    return d().currentAcceleration_;
  }

  bool currentAcceleration(vectorIn_t acceleration);
  // -----------------------------------------------------------------------

  const value_type& mass() const;

  const vector3_t& positionCenterOfMass() const;

  const ComJacobian_t& jacobianCenterOfMass() const;

  // -----------------------------------------------------------------------

  HPP_PINOCCHIO_DEPRECATED void controlComputation(const Computation_t&) {}
  HPP_PINOCCHIO_DEPRECATED Computation_t computationFlag() const {
    return COMPUTE_ALL;
  }

  void computeForwardKinematics() { computeForwardKinematics(COMPUTE_ALL); }
  void computeForwardKinematics(int flag) {
    d().computeForwardKinematics(modelPtr(), flag);
  }

  void computeFramesForwardKinematics() {
    d().computeFramesForwardKinematics(modelPtr());
  }

  void updateGeometryPlacements() {
    d().updateGeometryPlacements(modelPtr(), geomModelPtr());
  }

  // -----------------------------------------------------------------------
 protected:
  AbstractDevice();
  AbstractDevice(const ModelPtr_t& m, const GeomModelPtr_t& gm,
                 const GeomModelPtr_t& vm);
 
  virtual DeviceData& d() = 0;
  virtual DeviceData const& d() const = 0;
 
  // Pinocchio objects
  ModelPtr_t model_;
  GeomModelPtr_t geomModel_, visualModel_;
};  // class AbstractDevice

class HPP_PINOCCHIO_DLLAPI DeviceSync : public AbstractDevice {
 public:
  DeviceSync(const DevicePtr_t& device, bool lock = true);

  virtual ~DeviceSync();

  DeviceData& d() {
    assert(isLocked());
    return *d_;
  }

  DeviceData const& d() const {
    assert(isLocked());
    return *d_;
  }

  void lock();
  bool isLocked() const { return d_ != NULL; }
  void unlock();
 
 private:
  DevicePtr_t device_;
  DeviceData* d_;
};  // class DeviceSync
}  // namespace pinocchio
}  // namespace hpp
 
#endif  // HPP_PINOCCHIO_DEVICE_SYNC_HH