1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include "dart/dynamics/FixedFrame.hpp"
34
35 namespace dart {
36 namespace dynamics {
37
38 namespace detail {
39
40 //==============================================================================
FixedFrameProperties(const Eigen::Isometry3d & relativeTf)41 FixedFrameProperties::FixedFrameProperties(const Eigen::Isometry3d& relativeTf)
42 : mRelativeTf(relativeTf)
43 {
44 // Do nothing
45 }
46
47 } // namespace detail
48
49 //==============================================================================
50 const Eigen::Vector6d FixedFrame::mZero = Eigen::Vector6d::Zero();
51
52 //==============================================================================
FixedFrame(Frame * refFrame,const Eigen::Isometry3d & relativeTransform)53 FixedFrame::FixedFrame(
54 Frame* refFrame, const Eigen::Isometry3d& relativeTransform)
55 : Entity(refFrame, false), Frame(refFrame)
56 {
57 createAspect<Aspect>(AspectProperties(relativeTransform));
58 }
59
60 //==============================================================================
~FixedFrame()61 FixedFrame::~FixedFrame()
62 {
63 // Do nothing. The inherited destructors will do all the necessary cleanup.
64 }
65
66 //==============================================================================
setAspectProperties(const AspectProperties & properties)67 void FixedFrame::setAspectProperties(const AspectProperties& properties)
68 {
69 setRelativeTransform(properties.mRelativeTf);
70 }
71
72 //==============================================================================
setRelativeTransform(const Eigen::Isometry3d & transform)73 void FixedFrame::setRelativeTransform(const Eigen::Isometry3d& transform)
74 {
75 if (transform.matrix() == mAspectProperties.mRelativeTf.matrix())
76 return;
77
78 mAspectProperties.mRelativeTf = transform;
79 dirtyTransform();
80 incrementVersion();
81 }
82
83 //==============================================================================
getRelativeTransform() const84 const Eigen::Isometry3d& FixedFrame::getRelativeTransform() const
85 {
86 return mAspectProperties.mRelativeTf;
87 }
88
89 //==============================================================================
getRelativeSpatialVelocity() const90 const Eigen::Vector6d& FixedFrame::getRelativeSpatialVelocity() const
91 {
92 return mZero;
93 }
94
95 //==============================================================================
getRelativeSpatialAcceleration() const96 const Eigen::Vector6d& FixedFrame::getRelativeSpatialAcceleration() const
97 {
98 return mZero;
99 }
100
101 //==============================================================================
getPrimaryRelativeAcceleration() const102 const Eigen::Vector6d& FixedFrame::getPrimaryRelativeAcceleration() const
103 {
104 return mZero;
105 }
106
107 //==============================================================================
getPartialAcceleration() const108 const Eigen::Vector6d& FixedFrame::getPartialAcceleration() const
109 {
110 return mZero;
111 }
112
113 //==============================================================================
FixedFrame()114 FixedFrame::FixedFrame() : FixedFrame(ConstructAbstract)
115 {
116 // Delegates to the abstract constructor
117 }
118
119 //==============================================================================
FixedFrame(ConstructAbstractTag)120 FixedFrame::FixedFrame(ConstructAbstractTag)
121 {
122 dterr << "[FixedFrame::FixedFrame] Attempting to construct a pure abstract "
123 << "FixedFrame object. This is not allowed!\n";
124 assert(false);
125 }
126
127 } // namespace dynamics
128 } // namespace dart
129