dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/FreeJoint.hpp

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+/*
+ * 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
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+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_FREEJOINT_HPP_
+#define DART_DYNAMICS_FREEJOINT_HPP_
+
+#include <dart/dynamics/GenericJoint.hpp>
+
+#include <dart/common/Deprecated.hpp>
+
+#include <Eigen/Dense>
+
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+/// class FreeJoint
+class FreeJoint : public GenericJoint<math::SE3Space>
+{
+public:
+  friend class Skeleton;
+
+  using Base = GenericJoint<math::SE3Space>;
+
+  struct Properties : Base::Properties
+  {
+    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
+
+    Properties(const Base::Properties& properties = Base::Properties());
+
+    virtual ~Properties() = default;
+  };
+
+  FreeJoint(const FreeJoint&) = delete;
+
+  /// Destructor
+  virtual ~FreeJoint();
+
+  /// Get the Properties of this FreeJoint
+  Properties getFreeJointProperties() const;
+
+  // 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;
+
+  /// Convert a transform into a 6D vector that can be used to set the positions
+  /// of a FreeJoint. The positions returned by this function will result in a
+  /// relative transform of
+  /// getTransformFromParentBodyNode() * _tf *
+  /// getTransformFromChildBodyNode().inverse() between the parent BodyNode and
+  /// the child BodyNode frames when applied to a FreeJoint.
+  static Eigen::Vector6d convertToPositions(const Eigen::Isometry3d& _tf);
+
+  /// Convert a FreeJoint-style 6D vector into a transform
+  static Eigen::Isometry3d convertToTransform(
+      const Eigen::Vector6d& _positions);
+
+  /// If the given joint is a FreeJoint, then set the transform of the given
+  /// Joint's child BodyNode so that its transform with respect to
+  /// "withRespecTo" is equal to "tf".
+  ///
+  /// \deprecated Deprecated in DART 6.9. Use setTransformOf() instead
+  DART_DEPRECATED(6.9)
+  static void setTransform(
+      Joint* joint,
+      const Eigen::Isometry3d& tf,
+      const Frame* withRespectTo = Frame::World());
+
+  /// If the given joint is a FreeJoint, then set the transform of the given
+  /// Joint's child BodyNode so that its transform with respect to
+  /// "withRespecTo" is equal to "tf".
+  static void setTransformOf(
+      Joint* joint,
+      const Eigen::Isometry3d& tf,
+      const Frame* withRespectTo = Frame::World());
+
+  /// If the parent Joint of the given BodyNode is a FreeJoint, then set the
+  /// transform of the given BodyNode so that its transform with respect to
+  /// "withRespecTo" is equal to "tf".
+  ///
+  /// \deprecated Deprecated in DART 6.9. Use setTransformOf() instead
+  DART_DEPRECATED(6.9)
+  static void setTransform(
+      BodyNode* bodyNode,
+      const Eigen::Isometry3d& tf,
+      const Frame* withRespectTo = Frame::World());
+
+  /// If the parent Joint of the given BodyNode is a FreeJoint, then set the
+  /// transform of the given BodyNode so that its transform with respect to
+  /// "withRespecTo" is equal to "tf".
+  static void setTransformOf(
+      BodyNode* bodyNode,
+      const Eigen::Isometry3d& tf,
+      const Frame* withRespectTo = Frame::World());
+
+  /// Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes
+  /// of the given Skeleton. If false is passed in "applyToAllRootBodies", then
+  /// it will be applied to only the default root BodyNode that will be obtained
+  /// by Skeleton::getRootBodyNode().
+  ///
+  /// \deprecated Deprecated in DART 6.9. Use setTransformOf() instead
+  DART_DEPRECATED(6.9)
+  static void setTransform(
+      Skeleton* skeleton,
+      const Eigen::Isometry3d& tf,
+      const Frame* withRespectTo = Frame::World(),
+      bool applyToAllRootBodies = true);
+
+  /// Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes
+  /// of the given Skeleton. If false is passed in "applyToAllRootBodies", then
+  /// it will be applied to only the default root BodyNode that will be obtained
+  /// by Skeleton::getRootBodyNode().
+  static void setTransformOf(
+      Skeleton* skeleton,
+      const Eigen::Isometry3d& tf,
+      const Frame* withRespectTo = Frame::World(),
+      bool applyToAllRootBodies = true);
+
+  /// Set the transform, spatial velocity, and spatial acceleration of the child
+  /// BodyNode relative to an arbitrary Frame. The reference frame can be
+  /// arbitrarily specified.
+  ///
+  /// If you want to set more than one kind of Cartetian coordinates (e.g.,
+  /// transform and spatial velocity) at the same time, you should call
+  /// corresponding setters in a certain order (transform -> velocity ->
+  /// acceleration), If you don't velocity or acceleration can be corrupted by
+  /// transform or velocity. This function calls the corresponding setters in
+  /// the right order so that all the desired Cartetian coordinates are properly
+  /// set.
+  ///
+  /// Pass nullptr for "newTransform", "newSpatialVelocity", or
+  /// "newSpatialAcceleration" if you don't want to set them.
+  ///
+  /// \param[in] newTransform Desired transform of the child BodyNode.
+  /// \param[in] withRespectTo The relative Frame of "newTransform".
+  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
+  /// BodyNode.
+  /// \param[in] velRelativeTo The relative frame of "newSpatialVelocity".
+  /// \param[in] velInCoordinatesOf The reference frame of "newSpatialVelocity".
+  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
+  /// child BodyNode.
+  /// \param[in] accRelativeTo The relative frame of "newSpatialAcceleration".
+  /// \param[in] accInCoordinatesOf The reference frame of
+  /// "newSpatialAcceleration".
+  void setSpatialMotion(
+      const Eigen::Isometry3d* newTransform,
+      const Frame* withRespectTo,
+      const Eigen::Vector6d* newSpatialVelocity,
+      const Frame* velRelativeTo,
+      const Frame* velInCoordinatesOf,
+      const Eigen::Vector6d* newSpatialAcceleration,
+      const Frame* accRelativeTo,
+      const Frame* accInCoordinatesOf);
+
+  /// Set the transform of the child BodyNode relative to the parent BodyNode
+  /// \param[in] newTransform Desired transform of the child BodyNode.
+  void setRelativeTransform(const Eigen::Isometry3d& newTransform);
+
+  /// Set the transform of the child BodyNode relative to an arbitrary Frame.
+  /// \param[in] newTransform Desired transform of the child BodyNode.
+  /// \param[in] withRespectTo The relative Frame of "newTransform".
+  void setTransform(
+      const Eigen::Isometry3d& newTransform,
+      const Frame* withRespectTo = Frame::World());
+
+  /// Set the spatial velocity of the child BodyNode relative to the parent
+  /// BodyNode.
+  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
+  /// BodyNode. The reference frame of "newSpatialVelocity" is the child
+  /// BodyNode.
+  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity);
+
+  /// Set the spatial velocity of the child BodyNode relative to the parent
+  /// BodyNode.
+  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
+  /// BodyNode.
+  /// \param[in] inCoordinatesOf The reference frame of "newSpatialVelocity".
+  void setRelativeSpatialVelocity(
+      const Eigen::Vector6d& newSpatialVelocity, const Frame* inCoordinatesOf);
+
+  /// Set the spatial velocity of the child BodyNode relative to an arbitrary
+  /// Frame.
+  /// \param[in] newSpatialVelocity Desired spatial velocity of the child
+  /// BodyNode.
+  /// \param[in] relativeTo The relative frame of "newSpatialVelocity".
+  /// \param[in] inCoordinatesOf The reference frame of "newSpatialVelocity".
+  void setSpatialVelocity(
+      const Eigen::Vector6d& newSpatialVelocity,
+      const Frame* relativeTo,
+      const Frame* inCoordinatesOf);
+
+  /// Set the linear portion of classical velocity of the child BodyNode
+  /// relative to an arbitrary Frame.
+  ///
+  /// Note that the angular portion of claasical velocity of the child
+  /// BodyNode will not be changed after this function called.
+  ///
+  /// \param[in] newLinearVelocity
+  /// \param[in] relativeTo The relative frame of "newLinearVelocity".
+  /// \param[in] inCoordinatesOf The reference frame of "newLinearVelocity".
+  void setLinearVelocity(
+      const Eigen::Vector3d& newLinearVelocity,
+      const Frame* relativeTo = Frame::World(),
+      const Frame* inCoordinatesOf = Frame::World());
+
+  /// Set the angular portion of classical velocity of the child BodyNode
+  /// relative to an arbitrary Frame.
+  ///
+  /// Note that the linear portion of claasical velocity of the child
+  /// BodyNode will not be changed after this function called.
+  ///
+  /// \param[in] newAngularVelocity
+  /// \param[in] relativeTo The relative frame of "newAngularVelocity".
+  /// \param[in] inCoordinatesOf The reference frame of "newAngularVelocity".
+  void setAngularVelocity(
+      const Eigen::Vector3d& newAngularVelocity,
+      const Frame* relativeTo = Frame::World(),
+      const Frame* inCoordinatesOf = Frame::World());
+
+  /// Set the spatial acceleration of the child BodyNode relative to the parent
+  /// BodyNode.
+  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
+  /// child BodyNode. The reference frame of "newSpatialAcceleration" is the
+  /// child BodyNode.
+  void setRelativeSpatialAcceleration(
+      const Eigen::Vector6d& newSpatialAcceleration);
+
+  /// Set the spatial acceleration of the child BodyNode relative to the parent
+  /// BodyNode.
+  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
+  /// child BodyNode.
+  /// \param[in] inCoordinatesOf The reference frame of
+  /// "newSpatialAcceleration".
+  void setRelativeSpatialAcceleration(
+      const Eigen::Vector6d& newSpatialAcceleration,
+      const Frame* inCoordinatesOf);
+
+  /// Set the spatial acceleration of the child BodyNode relative to an
+  /// arbitrary Frame.
+  /// \param[in] newSpatialAcceleration Desired spatial acceleration of the
+  /// child BodyNode.
+  /// \param[in] relativeTo The relative frame of "newSpatialAcceleration".
+  /// \param[in] inCoordinatesOf The reference frame of
+  /// "newSpatialAcceleration".
+  void setSpatialAcceleration(
+      const Eigen::Vector6d& newSpatialAcceleration,
+      const Frame* relativeTo,
+      const Frame* inCoordinatesOf);
+
+  /// Set the linear portion of classical acceleration of the child BodyNode
+  /// relative to an arbitrary Frame.
+  ///
+  /// Note that the angular portion of claasical acceleration of the child
+  /// BodyNode will not be changed after this function called.
+  ///
+  /// \param[in] newLinearAcceleration
+  /// \param[in] relativeTo The relative frame of "newLinearAcceleration".
+  /// \param[in] inCoordinatesOf The reference frame of "newLinearAcceleration".
+  void setLinearAcceleration(
+      const Eigen::Vector3d& newLinearAcceleration,
+      const Frame* relativeTo = Frame::World(),
+      const Frame* inCoordinatesOf = Frame::World());
+
+  /// Set the angular portion of classical acceleration of the child BodyNode
+  /// relative to an arbitrary Frame.
+  ///
+  /// Note that the linear portion of claasical acceleration of the child
+  /// BodyNode will not be changed after this function called.
+  ///
+  /// \param[in] newAngularAcceleration
+  /// \param[in] relativeTo The relative frame of "newAngularAcceleration".
+  /// \param[in] inCoordinatesOf The reference frame of
+  /// "newAngularAcceleration".
+  void setAngularAcceleration(
+      const Eigen::Vector3d& newAngularAcceleration,
+      const Frame* relativeTo = Frame::World(),
+      const Frame* inCoordinatesOf = Frame::World());
+
+  // Documentation inherited
+  Eigen::Matrix6d getRelativeJacobianStatic(
+      const Eigen::Vector6d& _positions) const override;
+
+  // Documentation inherited
+  Eigen::Vector6d getPositionDifferencesStatic(
+      const Eigen::Vector6d& _q2, const Eigen::Vector6d& _q1) const override;
+
+protected:
+  /// Constructor called by Skeleton class
+  FreeJoint(const Properties& properties);
+
+  // Documentation inherited
+  Joint* clone() const override;
+
+  using Base::getRelativeJacobianStatic;
+
+  // Documentation inherited
+  void integratePositions(double _dt) override;
+
+  // Documentation inherited
+  void integrateVelocities(double _dt) override;
+
+  // Documentation inherited
+  void updateConstrainedTerms(double timeStep) 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 mQ, which is an auto-updating variable
+  const Eigen::Isometry3d& getQ() const;
+
+  /// Transformation matrix dependent on generalized coordinates
+  ///
+  /// Do not use directly! Use getQ() to access this
+  mutable Eigen::Isometry3d mQ;
+
+public:
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_FREEJOINT_HPP_