RobotFrame.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Frame.h>
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI RobotFrame : public mc_rtc::shared<RobotFrame, Frame>
{
protected:
  struct NewRobotFrameToken : public Frame::NewFrameToken
  {
  };
 
public:
  friend struct Robot;
 
  RobotFrame(NewRobotFrameToken, const std::string & name, Robot & robot, const std::string & body);
 
  RobotFrame(NewRobotFrameToken, const std::string & name, RobotFrame & parent, sva::PTransformd X_p_f, bool baked);
 
  inline const Robot & robot() const noexcept { return robot_; }
 
  inline Robot & robot() noexcept { return robot_; }
 
  inline unsigned int bodyMbcIndex() const noexcept { return bodyMbcIdx_; }
 
  const std::string & body() const noexcept;
 
  sva::PTransformd position() const noexcept final;
 
  sva::MotionVecd velocity() const noexcept final;
 
  inline const sva::PTransformd & X_p_f() const noexcept { return position_; }
 
  sva::PTransformd X_b_f() const noexcept;
 
  inline RobotFrame & X_p_f(sva::PTransformd pt) noexcept
  {
    position_ = pt;
    return *this;
  }
 
  inline bool hasForceSensor() const noexcept { return sensor_; }
 
  const ForceSensor & forceSensor() const;
 
  sva::ForceVecd wrench() const;
 
  Eigen::Vector2d cop(double min_pressure = 0.5) const;
 
  Eigen::Vector3d copW(double min_pressure = 0.5) const;
 
  RobotFramePtr makeFrame(const std::string & name, const sva::PTransformd & X_p_f, bool baked = false);
 
  inline mc_tvm::RobotFrame & tvm_frame() const
  {
    return reinterpret_cast<mc_tvm::RobotFrame &>(Frame::tvm_frame());
  }
 
protected:
  Robot & robot_;
  unsigned int bodyMbcIdx_;
  const ForceSensor * sensor_ = nullptr;
 
  void init_tvm_frame() const final;
 
  void resetForceSensor() noexcept;
};
 
} // namespace mc_rbdyn