FrameSemantics.hh

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/*
 * Copyright (C) 2017 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 GZ_PHYSICS_FRAMESEMANTICS_HH_
#define GZ_PHYSICS_FRAMESEMANTICS_HH_
 
#include <memory>
 
#include <gz/physics/Feature.hh>
#include <gz/physics/Entity.hh>
#include <gz/physics/FrameID.hh>
#include <gz/physics/FrameData.hh>
#include <gz/physics/RelativeQuantity.hh>
 
namespace gz
{
  namespace physics
  {
    class GZ_PHYSICS_VISIBLE FrameSemantics : public virtual Feature
    {
      // Forward declaration
      public: template <typename, typename> class Frame;
 
      public: template <typename PolicyT, typename FeaturesT>
      class Engine : public virtual Feature::Engine<PolicyT, FeaturesT>
      {
        public: using FrameData =
            gz::physics::FrameData<
              typename PolicyT::Scalar, PolicyT::Dim>;
 
        public: template <typename RQ>
        typename RQ::Quantity Resolve(
          const RQ &_quantity,
          const FrameID &_relativeTo,
          const FrameID &_inCoordinatesOf) const;
 
        public: template <typename RQ>
        typename RQ::Quantity Resolve(
          const RQ &_quantity,
          const FrameID &_relativeTo = FrameID::World()) const;
 
        public: template <typename RQ>
        RQ Reframe(const RQ &_quantity,
                   const FrameID &_withRespectTo = FrameID::World()) const;
 
        template <typename, typename> friend class FrameSemantics::Frame;
      };
 
      public: template <typename PolicyT, typename FeaturesT>
      class Frame : public virtual Entity<PolicyT, FeaturesT>
      {
        public: using FrameData =
          gz::physics::FrameData<typename PolicyT::Scalar, PolicyT::Dim>;
 
        public: FrameID GetFrameID() const;
 
        public: FrameData FrameDataRelativeToWorld() const;
 
        public: FrameData FrameDataRelativeTo(
          const FrameID &_relativeTo) const;
 
        public: FrameData FrameDataRelativeTo(
          const FrameID &_relativeTo,
          const FrameID &_inCoordinatesOf) const;
 
        public: operator FrameID() const;
 
        public: virtual ~Frame() = default;
      };
 
      template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: using FrameData =
          gz::physics::FrameData<typename PolicyT::Scalar, PolicyT::Dim>;
 
        public: virtual FrameData FrameDataRelativeToWorld(
          const FrameID &_id) const = 0;
 
        protected: virtual FrameID GenerateFrameID(
            const Identity &_identity) const;
 
        protected: template<typename T>
        T *FrameInterface(const FrameID &_frameID) const;
      };
    };
 
    class GZ_PHYSICS_VISIBLE LinkFrameSemantics
        : public virtual FrameSemantics
    {
      public: template <typename Policy, typename Features>
      using Link = FrameSemantics::Frame<Policy, Features>;
    };
 
    class GZ_PHYSICS_VISIBLE JointFrameSemantics
        : public virtual FrameSemantics
    {
      public: template <typename Policy, typename Features>
      using Joint = FrameSemantics::Frame<Policy, Features>;
    };
 
    class GZ_PHYSICS_VISIBLE ShapeFrameSemantics
        : public virtual FrameSemantics
    {
      public: template <typename Policy, typename Features>
      using Shape = FrameSemantics::Frame<Policy, Features>;
    };
 
    class GZ_PHYSICS_VISIBLE ModelFrameSemantics
        : public virtual FrameSemantics
    {
      public: template <typename Policy, typename Features>
      using Model = FrameSemantics::Frame<Policy, Features>;
    };
 
    class GZ_PHYSICS_VISIBLE CompleteFrameSemantics
        : public virtual LinkFrameSemantics,
          public virtual JointFrameSemantics,
          public virtual ModelFrameSemantics
    {
      // This alias is needed in order to disambiguate which Engine class to use
      // from the base classes.
      public: template <typename Policy, typename Features>
      using Engine = FrameSemantics::Engine<Policy, Features>;
    };
  }
}
 
#include <gz/physics/detail/FrameSemantics.hh>
 
#endif