Convex.h

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/*
 * Copyright 2015-2020 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tvm/api.h>
#include <mc_tvm/fwd.h>
 
#include <mc_rbdyn/RobotModule.h>
#include <mc_rbdyn/fwd.h>
 
#include <tvm/graph/abstract/Node.h>
 
namespace mc_tvm
{
 
struct MC_TVM_DLLAPI Convex : public tvm::graph::abstract::Node<Convex>
{
  friend struct mc_rbdyn::Robot;
 
private:
  struct NewConvexToken
  {
  };
 
public:
  SET_OUTPUTS(Convex, Position)
  SET_UPDATES(Convex, Position)
 
  
  Convex(NewConvexToken,
         mc_rbdyn::S_ObjectPtr object,
         const mc_rbdyn::RobotFrame & frame,
         const sva::PTransformd & X_f_c);
 
  Convex(const Convex &) = delete;
  Convex & operator=(const Convex &) = delete;
 
  inline mc_rbdyn::S_ObjectPtr convex() noexcept { return object_; }
 
  inline const mc_rbdyn::RobotFrame & frame() { return *frame_; }
 
private:
  mc_rbdyn::S_ObjectPtr object_;
  mc_rbdyn::ConstRobotFramePtr frame_;
  sva::PTransformd X_f_c_;
 
  void updatePosition();
};
 
} // namespace mc_tvm