/usr/include/kido/dynamics/Entity.hpp is in libkido-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2014-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KIDO_DYNAMICS_ENTITY_HPP_
#define KIDO_DYNAMICS_ENTITY_HPP_
#include <Eigen/Core>
#include <string>
#include <vector>
#include "kido/common/Subject.hpp"
#include "kido/common/Signal.hpp"
#include "kido/dynamics/Shape.hpp"
#include "kido/dynamics/SmartPointer.hpp"
namespace kido {
namespace renderer {
class RenderInterface;
} // namespace renderer
} // namespace kido
namespace kido {
namespace dynamics {
class Frame;
class Shape;
/// Entity class is a base class for any objects that exist in the kinematic
/// tree structure of KIDO.
///
/// Entities all share the following properties: they exist within a reference
/// frame, have a name, and are visualizable. However, different Entity types
/// may have different policies about how/if their reference frame or name
/// can be changed. Use the Detachable class to create an Entity whose reference
/// Frame can be changed arbitrarily.
class Entity : public virtual common::Subject
{
public:
friend class Frame;
using EntitySignal = common::Signal<void(const Entity*)>;
using FrameChangedSignal
= common::Signal<void(const Entity*,
const Frame* _oldFrame,
const Frame* _newFrame)>;
using NameChangedSignal
= common::Signal<void(const Entity*,
const std::string& _oldName,
const std::string& _newName)>;
using VizShapeAddedSignal
= common::Signal<void(const Entity*, ConstShapePtr _newVisShape)>;
using VizShapeRemovedSignal = VizShapeAddedSignal;
struct Properties
{
/// Name of the Entity
std::string mName;
/// Visualization shapes for the Entity
std::vector<ShapePtr> mVizShapes;
/// Constructor
Properties(const std::string& _name = "",
const std::vector<ShapePtr>& _vizShapes=std::vector<ShapePtr>());
virtual ~Properties() = default;
};
/// Constructor for typical usage
explicit Entity(Frame* _refFrame, const std::string& _name, bool _quiet);
Entity(const Entity&) = delete;
/// Destructor
virtual ~Entity();
/// Set the Properties of this Entity
void setProperties(const Properties& _properties);
/// Get the Properties of this Entity
const Properties& getEntityProperties() const;
/// Copy the Properties of another Entity
void copy(const Entity& _otherEntity);
/// Copy the Properties of another Entity
void copy(const Entity* _otherEntity);
/// Same as copy(const Entity&)
Entity& operator=(const Entity& _otherEntity);
/// Set name. Some implementations of Entity may make alterations to the name
/// that gets passed in. The final name that this entity will use gets passed
/// back in the return of this function.
virtual const std::string& setName(const std::string& _name);
/// Return the name of this Entity
virtual const std::string& getName() const;
/// Add a visualization Shape for this Entity
virtual void addVisualizationShape(const ShapePtr& _shape);
/// Remove a visualization Shape from this Entity
virtual void removeVisualizationShape(const ShapePtr& _shape);
/// Remove all visualization Shapes from this Entity
virtual void removeAllVisualizationShapes();
/// Return the number of visualization shapes
size_t getNumVisualizationShapes() const;
/// Return _index-th visualization shape
ShapePtr getVisualizationShape(size_t _index);
/// Return (const) _index-th visualization shape
ConstShapePtr getVisualizationShape(size_t _index) const;
/// Get the visualization shapes of this Entity
const std::vector<ShapePtr>& getVisualizationShapes();
/// Get the (const) visualization shapes of this Entity
const std::vector<ConstShapePtr>& getVisualizationShapes() const;
/// Render this Entity
virtual void draw(renderer::RenderInterface* _ri = nullptr,
const Eigen::Vector4d& _color = Eigen::Vector4d::Ones(),
bool _useDefaultColor = true, int _depth = 0) const;
/// Get the parent (reference) frame of this Entity
Frame* getParentFrame();
/// Get the parent (reference) frame of this Entity
const Frame* getParentFrame() const;
/// True if and only if this Entity depends on (i.e. kinematically descends
/// from) _someFrame. If _someFrame is nullptr, this returns true in order to
/// accommodate BodyNodes which always have a nullptr BodyNode as the parent
/// of a root BodyNode.
bool descendsFrom(const Frame* _someFrame) const;
/// True iff this Entity is also a Frame.
bool isFrame() const;
/// Returns true if this Entity is set to be quiet.
///
/// A quiet entity is unknown to its parent Frame. It will not be tracked by
/// its parent; it will not receive notifications from its parent, and it will
/// not be rendered. The advantage to a quiet Entity is that it has less
/// overhead when constructing and deconstructing, which makes it more
/// suitable for temporary objects.
bool isQuiet() const;
/// Notify this Entity that its parent Frame's pose has changed
virtual void notifyTransformUpdate();
/// Returns true iff a transform update is needed for this Entity
bool needsTransformUpdate() const;
/// Notify this Entity that its parent Frame's velocity has changed
virtual void notifyVelocityUpdate();
/// Returns true iff a velocity update is needed for this Entity
bool needsVelocityUpdate() const;
/// Notify this Entity that its parent Frame's acceleration has changed
virtual void notifyAccelerationUpdate();
/// Returns true iff an acceleration update is needed for this Entity
bool needsAccelerationUpdate() const;
protected:
/// Used when constructing a Frame class, because the Frame constructor will
/// take care of setting up the parameters you pass into it
enum ConstructFrame_t { ConstructFrame };
explicit Entity(ConstructFrame_t);
/// Used when constructing a pure abstract class, because calling the Entity
/// constructor is just a formality
enum ConstructAbstract_t { ConstructAbstract };
explicit Entity(ConstructAbstract_t);
/// Used by derived classes to change their parent frames
virtual void changeParentFrame(Frame* _newParentFrame);
protected:
/// Properties of this Entity
Properties mEntityP;
/// Parent frame of this Entity
Frame* mParentFrame;
/// Does this Entity need a Transform update
mutable bool mNeedTransformUpdate;
/// Does this Entity need a Velocity update
mutable bool mNeedVelocityUpdate;
/// Does this Entity need an Acceleration update
mutable bool mNeedAccelerationUpdate;
/// Frame changed signal
FrameChangedSignal mFrameChangedSignal;
/// Name changed signal
NameChangedSignal mNameChangedSignal;
/// Visualization added signal
VizShapeAddedSignal mVizShapeAddedSignal;
/// Visualization removed signal
VizShapeRemovedSignal mVizShapeRemovedSignal;
/// Transform changed signal
EntitySignal mTransformUpdatedSignal;
/// Velocity changed signal
EntitySignal mVelocityChangedSignal;
/// Acceleration changed signal
EntitySignal mAccelerationChangedSignal;
public:
//----------------------------------------------------------------------------
/// \{ \name Slot registers
//----------------------------------------------------------------------------
/// Slot register for frame changed signal
common::SlotRegister<FrameChangedSignal> onFrameChanged;
/// Slot register for name changed signal
common::SlotRegister<NameChangedSignal> onNameChanged;
/// Slot register for visualization changed signal
common::SlotRegister<VizShapeAddedSignal> onVizShapeAdded;
/// Slot register for transform updated signal
common::SlotRegister<EntitySignal> onTransformUpdated;
/// Slot register for velocity updated signal
common::SlotRegister<EntitySignal> onVelocityChanged;
/// Slot register for acceleration updated signal
common::SlotRegister<EntitySignal> onAccelerationChanged;
private:
/// Whether or not this Entity is set to be quiet
const bool mAmQuiet;
/// Whether or not this Entity is a Frame
bool mAmFrame;
};
/// The Detachable class is a special case of the Entity base class. Detachable
/// allows the Entity's reference Frame to be changed arbitrarily by the user.
class Detachable : public virtual Entity
{
public:
/// Constructor
explicit Detachable(Frame* _refFrame, const std::string& _name, bool _quiet);
/// Allows the user to change the parent Frame of this Entity
virtual void setParentFrame(Frame* _newParentFrame);
protected:
/// Constructor for inheriting classes, so they do not need to fill in the
/// arguments
Detachable();
};
} // namespace dynamics
} // namespace kido
#endif // KIDO_DYNAMICS_ENTITY_HPP_
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