Frame.h

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#pragma once
 
#include <tvm/api.h>
#include <tvm/defs.h>
 
#include <tvm/function/abstract/Function.h>
 
#include <RBDyn/Jacobian.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI Frame : public graph::abstract::Node<Frame>
{
public:
  SET_OUTPUTS(Frame, Position, Jacobian, Velocity, NormalAcceleration)
  SET_UPDATES(Frame, Position, Jacobian, Velocity, NormalAcceleration)
 
  
  Frame(std::string name, RobotPtr robot, const std::string & body, sva::PTransformd X_b_f);
 
  inline const Robot & robot() const { return *robot_; }
 
  inline Robot & robot() { return *robot_; }
 
  inline rbd::Jacobian & rbdJacobian() { return jac_; }
 
  inline const rbd::Jacobian & rbdJacobian() const { return jac_; }
 
  inline const std::string & name() const { return name_; }
  inline const sva::PTransformd & position() const { return position_; }
  inline const tvm::internal::MatrixWithProperties & jacobian() const { return jacobian_; }
  inline const sva::MotionVecd & velocity() const { return velocity_; }
  inline const sva::MotionVecd & normalAcceleration() const { return normalAcceleration_; }
  const std::string & body() const;
 
private:
  std::string name_;
  RobotPtr robot_;
  unsigned int bodyId_;
  rbd::Jacobian jac_;
  sva::PTransformd X_b_f_;
 
  void updatePosition();
  sva::PTransformd position_;
 
  void updateJacobian();
  Eigen::MatrixXd jacTmp_;
  tvm::internal::MatrixWithProperties jacobian_;
 
  void updateVelocity();
  sva::MotionVecd velocity_;
 
  void updateNormalAcceleration();
  sva::MotionVecd normalAcceleration_;
};
 
using FramePtr = std::shared_ptr<Frame>;
 
} // namespace robot
 
} // namespace tvm