Surface.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
#include <RBDyn/MultiBodyConfig.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <memory>
#include <string>
#include <tinyxml2.h>
#include <vector>
 
namespace mc_rbdyn
{
 
struct Robot;
 
struct SurfaceImpl;
 
struct MC_RBDYN_DLLAPI Surface
{
public:
  Surface(const std::string & name,
          const std::string & bodyName,
          const sva::PTransformd & X_b_s,
          const std::string & materialName);
 
  virtual ~Surface();
 
  static std::unique_ptr<Surface> fromXML(const tinyxml2::XMLElement & elem);
 
  const std::string & name() const;
 
  void name(const std::string & name);
 
  const std::string & bodyName() const;
 
  const std::string & materialName() const;
 
  const std::vector<sva::PTransformd> & points() const;
 
  unsigned int bodyIndex(const mc_rbdyn::Robot & robot) const;
 
  sva::PTransformd X_0_s(const mc_rbdyn::Robot & robot) const;
 
  sva::PTransformd X_0_s(const mc_rbdyn::Robot & robot, const rbd::MultiBodyConfig & mbc) const;
 
  const sva::PTransformd & X_b_s() const;
 
  void X_b_s(const sva::PTransformd & X_b_s);
 
  virtual void computePoints() = 0;
 
  std::string toStr();
  virtual tinyxml2::XMLElement * toXML(tinyxml2::XMLDocument & doc) const = 0;
 
  virtual std::shared_ptr<Surface> copy() const = 0;
 
  virtual std::string type() const = 0;
 
  bool operator==(const Surface & rhs);
  bool operator!=(const Surface & rhs);
 
protected:
  std::vector<sva::PTransformd> & points();
 
private:
  std::unique_ptr<SurfaceImpl> impl;
};
 
typedef std::shared_ptr<Surface> SurfacePtr;
 
} // namespace mc_rbdyn