Segment.h

#ifndef BIORBD_RIGIDBODY_SEGMENT_H
#define BIORBD_RIGIDBODY_SEGMENT_H
 
#include <vector>
#include <rbdl/Model.h>
#include <rbdl/Joint.h>
#include "biorbdConfig.h"
#include "Utils/Node.h"
 
namespace biorbd {
namespace utils {
class RotoTrans;
class Range;
}
 
namespace rigidbody {
class Joints;
class SegmentCharacteristics;
 
class BIORBD_API Segment : public biorbd::utils::Node
{
public:
    Segment();
    
    Segment(
            biorbd::rigidbody::Joints& model,
            const biorbd::utils::String &name, 
            const biorbd::utils::String &parentName, 
            const biorbd::utils::String &seqT,
            const biorbd::utils::String &seqR,
            const std::vector<biorbd::utils::Range>& QRanges,
            const std::vector<biorbd::utils::Range>& QDotRanges,
            const std::vector<biorbd::utils::Range>& QDDotRanges,
            const biorbd::rigidbody::SegmentCharacteristics& characteristics,
            const RigidBodyDynamics::Math::SpatialTransform& cor,
            int PF = -1);  
 
    Segment(
            biorbd::rigidbody::Joints& model,
            const biorbd::utils::String &name, 
            const biorbd::utils::String &parentName, 
            const biorbd::utils::String &seqR,
            const std::vector<biorbd::utils::Range>& QRanges,
            const std::vector<biorbd::utils::Range>& QDotRanges,
            const std::vector<biorbd::utils::Range>& QDDotRanges,
            const biorbd::rigidbody::SegmentCharacteristics& characteristics, 
            const RigidBodyDynamics::Math::SpatialTransform& cor, 
            int PF = -1); 
 
    biorbd::rigidbody::Segment DeepCopy() const;
 
    void DeepCopy(
            const biorbd::rigidbody::Segment& other);
 
    virtual ~Segment();
 
    unsigned int id() const;
 
    int platformIdx() const;
 
    const biorbd::utils::String& seqT() const;
 
    const biorbd::utils::String& seqR() const; 
 
    const std::vector<biorbd::utils::Range>&
    QRanges() const;
 
    const std::vector<biorbd::utils::Range>&
    QDotRanges() const;
 
    const std::vector<biorbd::utils::Range>&
    QDDotRanges() const;
 
    unsigned int nbDof() const;
 
    unsigned int nbDofTrans() const;
 
    unsigned int nbDofRot() const;
 
    unsigned int nbQ() const;
 
    unsigned int nbQdot() const;
 
    unsigned int nbQddot() const; 
 
    unsigned int nbGeneralizedTorque() const;
 
    unsigned int getDofIdx(
            const biorbd::utils::String &dofName) const;
 
    const biorbd::utils::String& nameDof(
            const unsigned int i) const;
 
    biorbd::utils::RotoTrans localJCS() const; 
 
    const biorbd::rigidbody::SegmentCharacteristics& characteristics() const; 
 
    bool isRotationAQuaternion() const;
 
protected:
    void setType();
 
    std::shared_ptr<int> m_idxPF; 
 
    void setPF(
            int idx);
 
    std::shared_ptr<RigidBodyDynamics::Math::SpatialTransform> m_cor; 
 
    void setDofs(
            biorbd::rigidbody::Joints& model,
            const biorbd::utils::String &seqT,
            const biorbd::utils::String &seqR,
            const std::vector<biorbd::utils::Range>& QRanges,
            const std::vector<biorbd::utils::Range>& QDotRanges,
            const std::vector<biorbd::utils::Range>& QDDotRanges);
 
    void setNumberOfDof(
            unsigned int nbTrans,
            unsigned int nbRot);
 
    std::shared_ptr<biorbd::utils::String> m_seqT;  
    std::shared_ptr<biorbd::utils::String> m_seqR;  
    std::shared_ptr<std::vector<biorbd::utils::Range>> m_QRanges;  
    std::shared_ptr<std::vector<biorbd::utils::Range>> m_QDotRanges;  
    std::shared_ptr<std::vector<biorbd::utils::Range>> m_QDDotRanges;  
    std::shared_ptr<unsigned int> m_nbDof;   
    std::shared_ptr<unsigned int> m_nbQdot;  
    std::shared_ptr<unsigned int> m_nbQddot;  
    std::shared_ptr<unsigned int> m_nbDofTrue;    
    std::shared_ptr<unsigned int> m_nbDofTrueOutside; 
    std::shared_ptr<unsigned int> m_nbDofTrans; 
    std::shared_ptr<unsigned int> m_nbDofRot; 
    std::shared_ptr<unsigned int> m_nbDofQuat; 
 
    std::shared_ptr<bool> m_isQuaternion; 
 
    void determineIfRotIsQuaternion(const biorbd::utils::String &seqR);
 
    std::shared_ptr<std::vector<RigidBodyDynamics::Joint>> m_dof; 
    std::shared_ptr<std::vector<unsigned int>> m_idxDof;  
 
    void setSequence(
            const biorbd::utils::String &seqT,
            const biorbd::utils::String &seqR);
 
    void fillSequence();
 
    void str2numSequence(
            std::vector<unsigned int> &sequenceInteger,
            const biorbd::utils::String &sequenceText); 
 
    void str2numSequence(
            const biorbd::utils::String &seqT,
            const biorbd::utils::String &seqR); 
 
    std::shared_ptr<std::vector<unsigned int>> m_sequenceTrans; 
    std::shared_ptr<std::vector<unsigned int>> m_sequenceRot; 
    std::shared_ptr<std::vector<biorbd::utils::String>> m_nameDof; 
 
    virtual void setJoints(biorbd::rigidbody::Joints& model); 
 
    virtual void setJointAxis();
 
    std::shared_ptr<std::vector<unsigned int>> m_dofPosition;  
 
    void setDofCharacteristicsOnLastBody();
 
    std::shared_ptr<biorbd::rigidbody::SegmentCharacteristics> m_characteristics;
    std::shared_ptr<std::vector<biorbd::rigidbody::SegmentCharacteristics>> m_dofCharacteristics;  
 
 
};
 
}}
 
#endif // BIORBD_RIGIDBODY_SEGMENT_H