Contacts.h

#ifndef BIORBD_RIGIDBODY_CONTACTS_H
#define BIORBD_RIGIDBODY_CONTACTS_H
 
#include <vector>
#include <memory>
#include <rbdl/Constraints.h>
#include "biorbdConfig.h"
 
namespace biorbd { namespace utils {
class RotoTrans;
class Vector3d;
class Vector;
class String;
class SpatialVector;
}}
 
namespace biorbd {
namespace rigidbody {
class Joints;
class GeneralizedCoordinates;
 
#ifdef SWIG
class BIORBD_API Contacts
#else
class BIORBD_API Contacts : public RigidBodyDynamics::ConstraintSet
#endif
{
public:
    Contacts();
 
    biorbd::rigidbody::Contacts DeepCopy() const;
 
    void DeepCopy(
            const biorbd::rigidbody::Contacts& other);
 
    unsigned int AddConstraint(
            unsigned int body_id,
            const biorbd::utils::Vector3d &body_point,
            const biorbd::utils::Vector3d &world_normal,
            const biorbd::utils::String& name,
            double acc = 0);
 
 
    unsigned int AddConstraint(
            unsigned int body_id,
            const biorbd::utils::Vector3d &body_point,
            const biorbd::utils::String& axis,
            const biorbd::utils::String& name,
            double acc = 0);
 
    unsigned int AddLoopConstraint(
            unsigned int body_id_predecessor,
            unsigned int body_id_successor,
            const biorbd::utils::RotoTrans& X_predecessor,
            const biorbd::utils::RotoTrans& X_successor,
            const biorbd::utils::SpatialVector& axis,
            const biorbd::utils::String& name,
            bool enableStabilization = false,
            double stabilizationParam = 0.1);
 
    virtual ~Contacts();
 
    Contacts &getConstraints();
 
    bool hasContacts() const;
 
    unsigned int nbContacts() const;
 
    std::vector<biorbd::utils::String> contactNames();
 
    biorbd::utils::String contactName(unsigned int i);
 
    std::vector<biorbd::utils::Vector3d> constraintsInGlobal(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin); 
 
    biorbd::utils::Vector getForce() const;
 
protected:
    std::shared_ptr<unsigned int> m_nbreConstraint; 
    std::shared_ptr<bool> m_isBinded; 
 
};
 
}}
 
#endif // BIORBD_RIGIDBODY_CONTACTS_H