RotoTransNodes.h

#ifndef BIORBD_UTILS_ROTOTRANSNODES_H
#define BIORBD_UTILS_ROTOTRANSNODES_H
 
#include <vector>
#include <memory>
#include "biorbdConfig.h"
 
namespace biorbd {
 
namespace utils {
class String;
class Matrix;
class RotoTransNode;
}
 
namespace rigidbody {
class GeneralizedCoordinates;
 
class BIORBD_API RotoTransNodes
{
public:
    RotoTransNodes();
 
    RotoTransNodes(
            const biorbd::rigidbody::RotoTransNodes& other);
    
    virtual ~RotoTransNodes();
    
    biorbd::rigidbody::RotoTransNodes DeepCopy() const;
 
    void DeepCopy(
            const biorbd::rigidbody::RotoTransNodes& other);
 
    void addRT();
 
    void addRT(
            const biorbd::utils::RotoTransNode &RotoTrans);
 
    unsigned int nbRTs() const;
 
    std::vector<biorbd::utils::String> RTsNames();
 
    const std::vector<biorbd::utils::RotoTransNode>& RTs() const;
 
    std::vector<biorbd::utils::RotoTransNode> RTs(
            const biorbd::utils::String& segmentName);
 
    const biorbd::utils::RotoTransNode& RT(
            unsigned int idx);
 
    std::vector<biorbd::utils::RotoTransNode> RTs(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            bool updateKin = true);
 
    biorbd::utils::RotoTransNode RT(
            const biorbd::rigidbody::GeneralizedCoordinates&Q,
            unsigned int  idx,
            bool updateKin = true);
 
    std::vector<biorbd::utils::RotoTransNode> segmentRTs(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            unsigned int  idx,
            bool updateKin = true); 
 
    std::vector<biorbd::utils::Matrix> RTsJacobian(
            const biorbd::rigidbody::GeneralizedCoordinates &Q,
            bool updateKin = true);
 
protected:
    std::shared_ptr<std::vector<biorbd::utils::RotoTransNode>> m_RTs; 
 
};
 
}}
 
#endif // BIORBD_UTILS_ROTOTRANSNODES_H