Frame.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tvm/api.h>
#include <mc_tvm/fwd.h>
 
#include <mc_rbdyn/Frame.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <RBDyn/Jacobian.h>
 
#include <tvm/graph/abstract/Node.h>
#include <tvm/internal/MatrixWithProperties.h>
 
namespace mc_tvm
{
 
struct MC_TVM_DLLAPI Frame : public tvm::graph::abstract::Node<Frame>
{
  SET_OUTPUTS(Frame, Position, Velocity)
  SET_UPDATES(Frame, Position, Velocity)
 
  friend struct mc_rbdyn::Frame;
 
protected:
  struct NewFrameToken
  {
  };
 
public:
  Frame(NewFrameToken, const mc_rbdyn::Frame & frame);
 
  inline const sva::PTransformd & position() const noexcept { return position_; }
 
  inline const sva::MotionVecd & velocity() const noexcept { return velocity_; }
 
  inline const mc_rbdyn::Frame & frame() const noexcept { return frame_; }
 
protected:
  const mc_rbdyn::Frame & frame_;
  /* Cache and update functions */
  sva::PTransformd position_ = sva::PTransformd::Identity();
  sva::MotionVecd velocity_ = sva::MotionVecd::Zero();
 
  void updatePosition();
  void updateVelocity();
};
 
} // namespace mc_tvm