body.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_BODY_HH
#define HPP_PINOCCHIO_BODY_HH
 
#include <hpp/pinocchio/config.hh>
#include <hpp/pinocchio/fwd.hh>
#include <hpp/util/pointer.hh>
#include <pinocchio/multibody/fwd.hpp>
 
namespace hpp {
namespace pinocchio {

class HPP_PINOCCHIO_DLLAPI Body {
 public:
  Body(DeviceWkPtr_t device, JointIndex joint);
 
  virtual ~Body() {}


  const std::string& name() const;

  JointPtr_t joint() const;


  size_type nbInnerObjects() const;

  CollisionObjectPtr_t innerObjectAt(const size_type& i) const;

  value_type radius() const;

  size_type nbOuterObjects() const;

  CollisionObjectPtr_t outerObjectAt(const size_type& i) const;

  const vector3_t& localCenterOfMass() const;
  matrix3_t inertiaMatrix() const;
  value_type mass() const;

 private:
  void selfAssert() const;
  void searchFrameIndex() const;
 
  const Model& model() const;
  Model& model();
  const ::pinocchio::Frame& frame() const;
  ::pinocchio::Frame& frame();
 
  DeviceWkPtr_t devicePtr;
  JointIndex jointIndex;
  mutable FrameIndex
      frameIndex;  // In pinocchio, bodies are stored as frames of type BODY.
  mutable bool frameIndexSet;
};  // class Body
}  // namespace pinocchio
}  // namespace hpp
#endif  // HPP_PINOCCHIO_BODY_HH