impact_status.hpp

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#ifndef ROBOTOC_IMPACT_STATUS_HPP_
#define ROBOTOC_IMPACT_STATUS_HPP_
 
#include <vector>
#include <iostream>
 
#include "Eigen/Core"
 
#include "robotoc/robot/contact_status.hpp"
#include "robotoc/robot/se3.hpp"
#include "robotoc/utils/aligned_vector.hpp"
 
 
namespace robotoc {
 
class ImpactStatus {
public:
  ImpactStatus(const std::vector<ContactType>& contact_types, 
               const std::vector<std::string>& contact_frame_names,
               const double default_friction_coefficient=0.7);
 
  ImpactStatus();
 
  ~ImpactStatus() = default;
 
  ImpactStatus(const ImpactStatus&) = default;
 
  ImpactStatus& operator=(const ImpactStatus&) = default;
 
  ImpactStatus(ImpactStatus&&) noexcept = default;
 
  ImpactStatus& operator=(ImpactStatus&&) noexcept = default;
 
  bool operator==(const ImpactStatus& other) const;
 
  bool operator!=(const ImpactStatus& other) const;
 
  ContactType contactType(const int contact_index) const;
 
  const std::vector<ContactType>& contactTypes() const;
 
  bool isImpactActive(const int contact_index) const;
 
  const std::vector<bool>& isImpactActive() const;
 
  bool hasActiveImpact() const;
 
  int dimf() const;
 
  int maxNumContacts() const;
 
  void activateImpact(const int contact_index);
 
  void deactivateImpact(const int contact_index);
 
  void activateImpacts(const std::vector<int>& impact_indices);
 
  void deactivateImpacts(const std::vector<int>& impact_indices);
 
  void setContactPlacement(const int contact_index, 
                           const Eigen::Vector3d& contact_position);
 
  void setContactPlacement(const int contact_index, 
                           const Eigen::Vector3d& contact_position, 
                           const Eigen::Matrix3d& contact_rotation);
 
  void setContactPlacement(const int contact_index, 
                           const SE3& contact_placement);
 
  void setContactPlacements(
      const std::vector<Eigen::Vector3d>& contact_positions);
 
  void setContactPlacements(
      const std::vector<Eigen::Vector3d>& contact_positions,
      const std::vector<Eigen::Matrix3d>& contact_rotations);
 
  void setContactPlacements(const aligned_vector<SE3>& contact_placements);
 
  const SE3& contactPlacement(const int contact_index) const;
 
  const Eigen::Vector3d& contactPosition(const int contact_index) const;
 
  const Eigen::Matrix3d& contactRotation(const int contact_index) const;
 
  const aligned_vector<SE3>& contactPlacements() const;
 
  const std::vector<Eigen::Vector3d>& contactPositions() const;
 
  const std::vector<Eigen::Matrix3d>& contactRotations() const;
 
  void setFrictionCoefficient(const int contact_index, 
                              const double friction_coefficient);
 
  void setFrictionCoefficient(const std::string& contact_frame_name, 
                              const double friction_coefficient);
 
  void setFrictionCoefficients(const std::vector<double>& friction_coefficients);
 
  void setFrictionCoefficients(
      const std::unordered_map<std::string, double>& friction_coefficients);
 
  double frictionCoefficient(const int contact_index) const;
 
  double frictionCoefficient(const std::string& contact_frame_name) const;
 
  const std::vector<double>& frictionCoefficients() const;
 
  void setRandom();
 
  void disp(std::ostream& os) const;
 
  friend std::ostream& operator<<(std::ostream& os, 
                                  const ImpactStatus& impact_status);
 
private:
  ContactStatus contact_status_;
 
};
 
} // namespace robotoc
 
#include "robotoc/robot/impact_status.hxx"
 
#endif // ROBOTOC_IMPACT_STATUS_HPP_