Geometry.h

#ifndef BIORBD_MUSCLES_GEOMETRY_H
#define BIORBD_MUSCLES_GEOMETRY_H
 
#include <vector>
#include <memory>
#include "biorbdConfig.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class Matrix;
class Vector;
class Vector3d;
}
 
namespace rigidbody {
class Joints;
class GeneralizedCoordinates;
class GeneralizedVelocity;
}
 
namespace muscles {
class PathModifiers;
class Characteristics;
 
class BIORBD_API Geometry
{
public:
    Geometry();
 
    Geometry(
            const biorbd::utils::Vector3d &origin,
            const biorbd::utils::Vector3d &insertion);
 
    biorbd::muscles::Geometry DeepCopy() const;
 
    void DeepCopy(
            const biorbd::muscles::Geometry& other);
 
    void updateKinematics(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates* Q = nullptr,
            const biorbd::rigidbody::GeneralizedVelocity* Qdot = nullptr,
            int updateKin = 2);
 
    void updateKinematics(
            biorbd::rigidbody::Joints &model,
            const biorbd::muscles::Characteristics& characteristics,
            biorbd::muscles::PathModifiers& pathModifiers,
            const biorbd::rigidbody::GeneralizedCoordinates* Q = nullptr,
            const biorbd::rigidbody::GeneralizedVelocity* Qdot = nullptr,
            int updateKin = 2);
 
    void updateKinematics(
            std::vector<biorbd::utils::Vector3d>& musclePointsInGlobal,
            biorbd::utils::Matrix& jacoPointsInGlobal,
            const biorbd::rigidbody::GeneralizedVelocity* Qdot = nullptr);
 
    void updateKinematics(
            std::vector<biorbd::utils::Vector3d>& musclePointsInGlobal,
            biorbd::utils::Matrix& jacoPointsInGlobal,
            const biorbd::muscles::Characteristics& characteristics,
            const biorbd::rigidbody::GeneralizedVelocity* Qdot = nullptr);
 
    void setOrigin(
            const biorbd::utils::Vector3d &position);
 
    const biorbd::utils::Vector3d& originInLocal() const;
 
    void setInsertionInLocal(
            const biorbd::utils::Vector3d &position);
 
    const biorbd::utils::Vector3d& insertionInLocal() const;
 
    const biorbd::utils::Vector3d& originInGlobal() const;
 
    const biorbd::utils::Vector3d& insertionInGlobal() const; 
 
    const std::vector<biorbd::utils::Vector3d>& musclesPointsInGlobal() const;
 
    const biorbd::utils::Scalar& length() const;
 
    const biorbd::utils::Scalar& musculoTendonLength() const;
 
    const biorbd::utils::Scalar& velocity() const;
 
    const biorbd::utils::Matrix& jacobian() const;
 
    biorbd::utils::Matrix jacobianOrigin() const;
 
    biorbd::utils::Matrix jacobianInsertion() const ;
 
    biorbd::utils::Matrix jacobian(
            unsigned int idxViaPoint) const;
 
    const biorbd::utils::Matrix& jacobianLength() const;
 
 
protected:
    void _updateKinematics(
            const biorbd::rigidbody::GeneralizedVelocity *Qdot,
            const biorbd::muscles::Characteristics* characteristics = nullptr,
            biorbd::muscles::PathModifiers* pathModifiers = nullptr);
 
    const biorbd::utils::Vector3d& originInGlobal(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates &Q);
 
    const biorbd::utils::Vector3d& insertionInGlobal(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates &Q); 
 
    void setMusclesPointsInGlobal(
            std::vector<biorbd::utils::Vector3d>& ptsInGlobal); 
 
    void setMusclesPointsInGlobal(
            biorbd::rigidbody::Joints& model,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            biorbd::muscles::PathModifiers* pathModifiers = nullptr);
 
  
    const biorbd::utils::Scalar& length(
            const biorbd::muscles::Characteristics* characteristics = nullptr,
            biorbd::muscles::PathModifiers* pathModifiers = nullptr);
 
    const biorbd::utils::Scalar& velocity(
            const biorbd::rigidbody::GeneralizedVelocity &Qdot);
 
    void setJacobianDimension(
            biorbd::rigidbody::Joints &model);
 
    void jacobian(
            const biorbd::utils::Matrix &jaco);
    
    void jacobian(
            biorbd::rigidbody::Joints &model,
            const biorbd::rigidbody::GeneralizedCoordinates &Q);
 
    void computeJacobianLength();
 
    // Position des nodes dans le repere local
    std::shared_ptr<biorbd::utils::Vector3d> m_origin; 
    std::shared_ptr<biorbd::utils::Vector3d> m_insertion; 
 
    std::shared_ptr<biorbd::utils::Vector3d> m_originInGlobal; 
    std::shared_ptr<biorbd::utils::Vector3d> m_insertionInGlobal; 
    std::shared_ptr<std::vector<biorbd::utils::Vector3d>> m_pointsInGlobal; 
    std::shared_ptr<std::vector<biorbd::utils::Vector3d>> m_pointsInLocal; 
    std::shared_ptr<biorbd::utils::Matrix> m_jacobian; 
    std::shared_ptr<biorbd::utils::Matrix> m_G; 
    std::shared_ptr<biorbd::utils::Matrix> m_jacobianLength; 
 
    std::shared_ptr<biorbd::utils::Scalar> m_length; 
    std::shared_ptr<biorbd::utils::Scalar> m_muscleTendonLength; 
    std::shared_ptr<biorbd::utils::Scalar> m_velocity; 
 
    std::shared_ptr<bool> m_isGeometryComputed; 
    std::shared_ptr<bool> m_isVelocityComputed; 
    std::shared_ptr<bool> m_posAndJacoWereForced; 
 
};
 
}}
 
#endif // BIORBD_MUSCLES_GEOMETRY_H