Markers.h

#ifndef BIORBD_RIGIDBODY_MARKERS_H
#define BIORBD_RIGIDBODY_MARKERS_H
 
#include <memory>
#include <vector>
#include "biorbdConfig.h"
 
namespace biorbd {
namespace utils {
class String;
class Matrix;
}
 
namespace rigidbody {
class GeneralizedCoordinates;
class GeneralizedVelocity;
class NodeSegment;
 
class BIORBD_API Markers
{
public:
    Markers();
 
    Markers(const biorbd::rigidbody::Markers& other);
 
    virtual ~Markers();
 
    biorbd::rigidbody::Markers DeepCopy() const;
 
    void DeepCopy(const biorbd::rigidbody::Markers& other);
 
    void addMarker(
            const biorbd::rigidbody::NodeSegment &pos,
            const biorbd::utils::String &name,
            const biorbd::utils::String &parentName,
            bool technical,
            bool anatomical,
            const biorbd::utils::String& axesToRemove,
            int id = -1
        );
 
    const biorbd::rigidbody::NodeSegment& marker(
            unsigned int idx) const;
 
    std::vector<biorbd::rigidbody::NodeSegment> marker(
            const biorbd::utils::String &name) const;
 
    std::vector<biorbd::utils::String> markerNames() const;
    
    std::vector<biorbd::utils::String> technicalMarkerNames() const;
 
    std::vector<biorbd::utils::String> anatomicalMarkerNames() const;
 
    biorbd::rigidbody::NodeSegment marker(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::NodeSegment& node,
            bool removeAxis=true,
            bool updateKin = true);
 
    biorbd::rigidbody::NodeSegment marker(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            unsigned int  idx,
            bool removeAxis=true,
            bool updateKin = true); 
 
    biorbd::rigidbody::NodeSegment marker(
            unsigned int  idx,
            bool removeAxis);
 
    std::vector<biorbd::rigidbody::NodeSegment> markers(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxis=true,
            bool updateKin = true); 
 
    std::vector<biorbd::rigidbody::NodeSegment> markers(
            bool removeAxis=true); 
 
    biorbd::rigidbody::NodeSegment markerVelocity(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            const biorbd::rigidbody::GeneralizedVelocity &Qdot,
            unsigned int  idx,
            bool removeAxis=true,
            bool updateKin = true);
 
 
    std::vector<biorbd::rigidbody::NodeSegment> markersVelocity(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            const biorbd::rigidbody::GeneralizedVelocity &Qdot,
            bool removeAxis=true,
            bool updateKin = true); 
 
    std::vector<biorbd::rigidbody::NodeSegment> technicalMarkers(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxis=true,
            bool updateKin = true); 
 
    std::vector<biorbd::rigidbody::NodeSegment> technicalMarkers(
            bool removeAxis=true);
 
    std::vector<biorbd::rigidbody::NodeSegment> anatomicalMarkers(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxis=true,
            bool updateKin = true); 
 
    std::vector<biorbd::rigidbody::NodeSegment> anatomicalMarkers(
            bool removeAxis=true); 
 
    std::vector<biorbd::rigidbody::NodeSegment> segmentMarkers(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            unsigned int  idx,
            bool removeAxis=true,
            bool updateKin = true); 
 
    unsigned int nbMarkers() const;
 
    unsigned int nbMarkers(
            unsigned int idxSegment) const;
 
    unsigned int nbTechnicalMarkers();
 
    unsigned int nbTechnicalMarkers(unsigned int idxSegment); 
 
    unsigned int nbAnatomicalMarkers(); 
 
    std::vector<biorbd::utils::Matrix> markersJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxis=true,
            bool updateKin = true);
 
    std::vector<biorbd::utils::Matrix> technicalMarkersJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxis=true,
            bool updateKin = true);
 
    biorbd::utils::Matrix markersJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            const biorbd::utils::String& parentName,
            const biorbd::rigidbody::NodeSegment& p,
            bool updateKin); 
 
#ifndef BIORBD_USE_CASADI_MATH
    bool inverseKinematics(
            const std::vector<biorbd::rigidbody::NodeSegment>& markers,
            const biorbd::rigidbody::GeneralizedCoordinates& Qinit,
            biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxes=true);
#endif
 
protected:
    std::vector<biorbd::utils::Matrix> markersJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool removeAxis,
            bool updateKin,
            bool lookForTechnical); // Retourne la jacobienne des markers
 
    std::shared_ptr<std::vector<biorbd::rigidbody::NodeSegment>> m_marks; 
 
};
 
}}
 
#endif // BIORBD_RIGIDBODY_MARKERS_H