Link.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */

#ifndef IGNITION_PHYSICS_LINK_HH_
#define IGNITION_PHYSICS_LINK_HH_

#include <ignition/physics/FeatureList.hh>
#include <ignition/physics/FrameID.hh>
#include <ignition/physics/FrameSemantics.hh>
#include <ignition/physics/Geometry.hh>

namespace ignition
{
  namespace physics
  {
    class IGNITION_PHYSICS_VISIBLE AddLinkExternalForceTorque
      : public virtual FeatureWithRequirements<LinkFrameSemantics>
    {
      public: template <typename PolicyT, typename FeaturesT>
      class Link : public virtual LinkFrameSemantics::Link<PolicyT, FeaturesT>
      {
        public: using LinearVectorType =
            typename FromPolicy<PolicyT>::template Use<LinearVector>;

        public: using RelativePositionType =
            typename FromPolicy<PolicyT>::template Use<RelativePosition>;

        public: using RelativeForceType =
            typename FromPolicy<PolicyT>::template Use<RelativeForce>;

        public: using AngularVectorType =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;

        public: using RelativeTorqueType =
            typename FromPolicy<PolicyT>::template Use<RelativeTorque>;

        public: void AddExternalForce(
            const RelativeForceType &_force,
            const RelativePositionType &_position);

        public: void AddExternalForce(
            const LinearVectorType &_force,
            const FrameID &_forceInCoordinatesOf = FrameID::World(),
            const LinearVectorType &_position = LinearVectorType::Zero());

        public: void AddExternalTorque(const RelativeTorqueType &_torque);

        public: void AddExternalTorque(
            const AngularVectorType &_torque,
            const FrameID &_inCoordinatesOf = FrameID::World());
      };

      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: using LinearVectorType =
            typename FromPolicy<PolicyT>::template Use<LinearVector>;

        public: using AngularVectorType =
            typename FromPolicy<PolicyT>::template Use<AngularVector>;

        // \brief Implementation API for adding a force to link at a specified
        // position. The force and the position are both expressed in the World
        // frame
        public: virtual void AddLinkExternalForceInWorld(
            const Identity &_id, const LinearVectorType &_force,
            const LinearVectorType &_position) = 0;

        // \brief Implementation API for adding a torque to link position.
        public: virtual void AddLinkExternalTorqueInWorld(
            const Identity &_id, const AngularVectorType &_torque) = 0;
      };
    };
  }
}

#include <ignition/physics/detail/Link.hh>

#endif