dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/constraint/WeldJointConstraint.hpp

@@ -0,0 +1,133 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
+#define DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_
+
+#include <dart/constraint/DynamicJointConstraint.hpp>
+
+#include <dart/math/MathTypes.hpp>
+
+#include <Eigen/Dense>
+
+namespace dart {
+namespace constraint {
+
+/// WeldJointConstraint represents weld joint constraint between a body and the
+/// world or between two bodies
+class WeldJointConstraint : public DynamicJointConstraint
+{
+public:
+  /// Constructor that takes one body
+  explicit WeldJointConstraint(dynamics::BodyNode* _body);
+
+  /// Constructor that takes two bodies
+  WeldJointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);
+
+  /// Set the relative transform that this WeldJointConstraint will enforce
+  void setRelativeTransform(const Eigen::Isometry3d& _tf);
+
+  /// Get the relative transform that this WeldJointConstraint will enforce
+  const Eigen::Isometry3d& getRelativeTransform() const;
+
+  /// Destructor
+  virtual ~WeldJointConstraint();
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Returns constraint type for this class.
+  static const std::string& getStaticType();
+
+protected:
+  //----------------------------------------------------------------------------
+  // Constraint virtual functions
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void update() override;
+
+  // Documentation inherited
+  void getInformation(ConstraintInfo* _lcp) override;
+
+  // Documentation inherited
+  void applyUnitImpulse(std::size_t _index) override;
+
+  // Documentation inherited
+  void getVelocityChange(double* _vel, bool _withCfm) override;
+
+  // Documentation inherited
+  void excite() override;
+
+  // Documentation inherited
+  void unexcite() override;
+
+  // Documentation inherited
+  void applyImpulse(double* _lambda) override;
+
+  // Documentation inherited
+  bool isActive() const override;
+
+  // Documentation inherited
+  dynamics::SkeletonPtr getRootSkeleton() const override;
+
+  // Documentation inherited
+  void uniteSkeletons() override;
+
+private:
+  ///
+  Eigen::Isometry3d mRelativeTransform;
+
+  ///
+  Eigen::Vector6d mViolation;
+
+  ///
+  const Eigen::Matrix6d mJacobian1;
+
+  ///
+  Eigen::Matrix6d mJacobian2;
+
+  ///
+  double mOldX[6];
+
+  /// Index of applied impulse
+  std::size_t mAppliedImpulseIndex;
+
+public:
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} // namespace constraint
+} // namespace dart
+
+#endif // DART_CONSTRAINT_WELDJOINTCONSTRAINT_HPP_

include/dart/constraint/all.hpp

@@ -0,0 +1,25 @@
+// Automatically generated file by cmake
+
+#include "dart/constraint/BalanceConstraint.hpp"
+#include "dart/constraint/BallJointConstraint.hpp"
+#include "dart/constraint/BoxedLcpConstraintSolver.hpp"
+#include "dart/constraint/BoxedLcpSolver.hpp"
+#include "dart/constraint/ConstrainedGroup.hpp"
+#include "dart/constraint/ConstraintBase.hpp"
+#include "dart/constraint/ConstraintSolver.hpp"
+#include "dart/constraint/ContactConstraint.hpp"
+#include "dart/constraint/ContactSurface.hpp"
+#include "dart/constraint/DantzigBoxedLcpSolver.hpp"
+#include "dart/constraint/DantzigLCPSolver.hpp"
+#include "dart/constraint/DynamicJointConstraint.hpp"
+#include "dart/constraint/JointConstraint.hpp"
+#include "dart/constraint/JointCoulombFrictionConstraint.hpp"
+#include "dart/constraint/JointLimitConstraint.hpp"
+#include "dart/constraint/LCPSolver.hpp"
+#include "dart/constraint/MimicMotorConstraint.hpp"
+#include "dart/constraint/PGSLCPSolver.hpp"
+#include "dart/constraint/PgsBoxedLcpSolver.hpp"
+#include "dart/constraint/ServoMotorConstraint.hpp"
+#include "dart/constraint/SmartPointer.hpp"
+#include "dart/constraint/SoftContactConstraint.hpp"
+#include "dart/constraint/WeldJointConstraint.hpp"

include/dart/constraint/constraint.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+// DEPRECATED: This header is deprecated and will be removed in the next major release.
+// Please use <dart/constraint/all.hpp> instead of <dart/constraint/constraint.hpp>
+
+#ifndef DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+#if defined(_MSC_VER)
+#  pragma message("Warning: dart/constraint/constraint.hpp is deprecated. Use dart/constraint/all.hpp instead.")
+#elif defined(__GNUC__) || defined(__clang__)
+#  warning "dart/constraint/constraint.hpp is deprecated. Use dart/constraint/all.hpp instead."
+#endif
+#endif // DART_SUPPRESS_DEPRECATED_HEADER_WARNING
+
+#include "dart/constraint/all.hpp"

include/dart/constraint/detail/ConstraintSolver-impl.hpp

@@ -0,0 +1,78 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_DETAIL_CONSTRAINTSOVER_IMPL_HPP_
+#define DART_CONSTRAINT_DETAIL_CONSTRAINTSOVER_IMPL_HPP_
+
+#include <dart/constraint/ConstraintSolver.hpp>
+
+namespace dart::constraint {
+
+//==============================================================================
+template <typename Func>
+void ConstraintSolver::eachConstraint(Func func) const
+{
+  if constexpr (std::is_same_v<
+                    std::invoke_result_t<Func, const ConstraintBase*>,
+                    bool>) {
+    for (auto i = 0u; i < getNumConstraints(); ++i) {
+      if (!func(getConstraint(i)))
+        return;
+    }
+  } else {
+    for (auto i = 0u; i < getNumConstraints(); ++i) {
+      func(getConstraint(i));
+    }
+  }
+}
+
+//==============================================================================
+template <typename Func>
+void ConstraintSolver::eachConstraint(Func func)
+{
+  if constexpr (std::is_same_v<
+                    std::invoke_result_t<Func, ConstraintBase*>,
+                    bool>) {
+    for (auto i = 0u; i < getNumConstraints(); ++i) {
+      if (!func(getConstraint(i)))
+        return;
+    }
+  } else {
+    for (auto i = 0u; i < getNumConstraints(); ++i) {
+      func(getConstraint(i));
+    }
+  }
+}
+
+} // namespace dart::constraint
+
+#endif // DART_CONSTRAINT_DETAIL_CONSTRAINTSOVER_IMPL_HPP_

include/dart/dart.hpp

@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// clang-format off
+#include <dart/config.hpp>
+#include <dart/common/all.hpp>
+#include <dart/math/all.hpp>
+#include <dart/integration/all.hpp>
+#include <dart/collision/all.hpp>
+#include <dart/lcpsolver/all.hpp>
+#include <dart/constraint/all.hpp>
+#include <dart/optimizer/all.hpp>
+#include <dart/dynamics/all.hpp>
+#include <dart/simulation/all.hpp>
+// clang-format on

include/dart/dynamics/ArrowShape.hpp

@@ -0,0 +1,121 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_ARROWSHAPE_HPP_
+#define DART_DYNAMICS_ARROWSHAPE_HPP_
+
+#include <dart/dynamics/MeshShape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+class ArrowShape : public MeshShape
+{
+public:
+  struct Properties
+  {
+    /// _radius affects the thickness of the arrow. _headRadiusScale can be
+    /// [1,INFINITY) and is a multiplier that affects the wideness of the
+    /// beginning of the arrow head. _headLengthScale can be [0,1] and indicates
+    /// what fraction of the arrow length is to be the conical head.
+    /// _minHeadLength will prevent the arrow head from being shorter than the
+    /// given value; _maxHeadLength will prevent it from being longer than the
+    /// given value. Set _minHeadLength and _maxHeadLength to the same value to
+    /// fix the size of the arrow head.
+    Properties(
+        double _radius = 0.01,
+        double _headRadiusScale = 2.0,
+        double _headLengthScale = 0.15,
+        double _minHeadLength = 0,
+        double _maxHeadLength = INFINITY,
+        bool _doubleArrow = false);
+
+    double mRadius;
+    double mHeadRadiusScale;
+    double mHeadLengthScale;
+    double mMinHeadLength;
+    double mMaxHeadLength;
+    bool mDoubleArrow;
+  };
+
+  /// Empty constructor (for copying)
+  ArrowShape();
+
+  /// This will produce an arrow that reaches from _tail to _head with the given
+  /// properties.
+  ArrowShape(
+      const Eigen::Vector3d& _tail,
+      const Eigen::Vector3d& _head,
+      const Properties& _properties = Properties(),
+      const Eigen::Vector4d& _color = Eigen::Vector4d(0.5, 0.5, 1.0, 1.0),
+      std::size_t _resolution = 10);
+
+  /// Set the positions of the tail and head of the arrow without changing any
+  /// settings
+  void setPositions(const Eigen::Vector3d& _tail, const Eigen::Vector3d& _head);
+
+  /// Get the location of the tail of this arrow
+  const Eigen::Vector3d& getTail() const;
+
+  /// Get the location of the head of this arrow
+  const Eigen::Vector3d& getHead() const;
+
+  /// Set the properties of this arrow
+  void setProperties(const Properties& _properties);
+
+  /// Set the color of this arrow
+  void notifyColorUpdated(const Eigen::Vector4d& _color) override;
+
+  /// Get the properties of this arrow
+  const Properties& getProperties() const;
+
+  void configureArrow(
+      const Eigen::Vector3d& _tail,
+      const Eigen::Vector3d& _head,
+      const Properties& _properties);
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  void instantiate(std::size_t resolution);
+
+  Eigen::Vector3d mTail;
+  Eigen::Vector3d mHead;
+
+  Properties mProperties;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_ARROWSHAPE_HPP_

include/dart/dynamics/AssimpInputResourceAdaptor.hpp

@@ -0,0 +1,129 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_HPP_
+#define DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_HPP_
+
+#include <dart/common/Resource.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+
+#include <assimp/IOStream.hpp>
+#include <assimp/IOSystem.hpp>
+#include <assimp/cfileio.h>
+
+namespace dart {
+namespace dynamics {
+
+class AssimpInputResourceRetrieverAdaptor : public Assimp::IOSystem
+{
+public:
+  explicit AssimpInputResourceRetrieverAdaptor(
+      const common::ResourceRetrieverPtr& _resourceRetriever);
+  virtual ~AssimpInputResourceRetrieverAdaptor();
+
+  /// \brief Tests for the existence of a file at the given path.
+  ///
+  /// \param pFile Path to the file
+  /// \return true if there is a file with this path, else false.
+  bool Exists(const char* pFile) const override;
+
+  ///  \brief Returns the system specific directory separator
+  ///
+  /// \return  System specific directory separator
+  char getOsSeparator() const override;
+
+  /// \brief Open a new file with a given path.
+  ///
+  /// When the access to the file is finished, call Close() to release
+  /// all associated resources (or the virtual dtor of the IOStream).
+  ///
+  /// \param pFile Path to the file
+  /// \param pMode Desired file I/O mode. Required are: "wb", "w", "wt",
+  ///        "rb", "r", "rt".
+  /// \return New IOStream interface allowing the lib to access
+  ///        the underlying file.
+  Assimp::IOStream* Open(const char* pFile, const char* pMode = "rb") override;
+
+  /// \brief Closes the given file and releases all resources
+  ///   associated with it.
+  /// \param pFile The file instance previously created by Open().
+  void Close(Assimp::IOStream* pFile) override;
+
+private:
+  common::ResourceRetrieverPtr mResourceRetriever;
+};
+
+class AssimpInputResourceAdaptor : public Assimp::IOStream
+{
+public:
+  explicit AssimpInputResourceAdaptor(const common::ResourcePtr& _resource);
+  virtual ~AssimpInputResourceAdaptor();
+
+  /// \brief Read from the file
+  ///
+  /// See fread() for more details
+  std::size_t Read(
+      void* pvBuffer, std::size_t pSize, std::size_t pCount) override;
+
+  /// \brief Not implemented. This is a read-only stream.
+  std::size_t Write(
+      const void* pvBuffer, std::size_t pSize, std::size_t pCount) override;
+
+  /// \brief Set the read/write cursor of the file
+  ///
+  /// Note that the offset is _negative_ for aiOrigin_END.
+  /// See fseek() for more details
+  aiReturn Seek(std::size_t pOffset, aiOrigin pOrigin) override;
+
+  /// \brief Get the current position of the read/write cursor
+  ///
+  /// See ftell() for more details
+  std::size_t Tell() const override;
+
+  /// \brief Returns filesize
+  ///
+  /// Returns the filesize.
+  std::size_t FileSize() const override;
+
+  /// \brief Not implemented. This is a read-only stream.
+  void Flush() override;
+
+private:
+  common::ResourcePtr mResource;
+};
+
+aiFileIO createFileIO(Assimp::IOSystem* adaptor);
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // ifndef DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_HPP_

include/dart/dynamics/BallJoint.hpp

@@ -0,0 +1,143 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_BALLJOINT_HPP_
+#define DART_DYNAMICS_BALLJOINT_HPP_
+
+#include <dart/dynamics/GenericJoint.hpp>
+
+#include <Eigen/Dense>
+
+namespace dart {
+namespace dynamics {
+
+/// class BallJoint
+class BallJoint : public GenericJoint<math::SO3Space>
+{
+public:
+  friend class Skeleton;
+
+  using Base = GenericJoint<math::SO3Space>;
+
+  struct Properties : Base::Properties
+  {
+    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
+
+    Properties(const Base::Properties& properties = Base::Properties());
+
+    virtual ~Properties() = default;
+  };
+
+  /// Destructor
+  virtual ~BallJoint();
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Get joint type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited
+  bool isCyclic(std::size_t _index) const override;
+
+  /// Get the Properties of this BallJoint
+  Properties getBallJointProperties() const;
+
+  /// Convert a rotation into a 3D vector that can be used to set the positions
+  /// of a BallJoint. The positions returned by this function will result in a
+  /// relative transform of
+  /// getTransformFromParentBodyNode() * _rotation *
+  /// getTransformFromChildBodyNode().inverse() between the parent BodyNode and
+  /// the child BodyNode frames when applied to a BallJoint.
+  template <typename RotationType>
+  static Eigen::Vector3d convertToPositions(const RotationType& _rotation)
+  {
+    return math::logMap(_rotation);
+  }
+
+  /// Convert a BallJoint-style position vector into a transform
+  static Eigen::Isometry3d convertToTransform(
+      const Eigen::Vector3d& _positions);
+
+  /// Convert a BallJoint-style position vector into a rotation matrix
+  static Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions);
+
+  // Documentation inherited
+  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
+      const Eigen::Vector3d& _positions) const override;
+
+  // Documentation inherited
+  Eigen::Vector3d getPositionDifferencesStatic(
+      const Eigen::Vector3d& _q2, const Eigen::Vector3d& _q1) const override;
+
+protected:
+  /// Constructor called by Skeleton class
+  BallJoint(const Properties& properties);
+
+  // Documentation inherited
+  Joint* clone() const override;
+
+  using Base::getRelativeJacobianStatic;
+
+  // Documentation inherited
+  void integratePositions(double _dt) override;
+
+  // Documentation inherited
+  void updateDegreeOfFreedomNames() override;
+
+  // Documentation inherited
+  void updateRelativeTransform() const override;
+
+  // Documentation inherited
+  void updateRelativeJacobian(bool _mandatory = true) const override;
+
+  // Documentation inherited
+  void updateRelativeJacobianTimeDeriv() const override;
+
+protected:
+  /// Access mR, which is an auto-updating variable
+  const Eigen::Isometry3d& getR() const;
+
+  /// Rotation matrix dependent on the generalized coordinates
+  ///
+  /// Do not use directly! Use getR() to access this
+  mutable Eigen::Isometry3d mR;
+
+public:
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_BALLJOINT_HPP_