text: /*
   * Copyright (c) 2011-2017, The DART development contributors
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   * The list of contributors can be found at:
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   *
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   *   without modification, are permitted provided that the following
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   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
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   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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  #ifndef DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
  #define DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
  
  #include "dart/dynamics/detail/FixedJacobianNode.hpp"
  
  namespace dart {
  namespace dynamics {
  
  class FixedJacobianNode :
      public detail::FixedJacobianNodeCompositeBase,
      public AccessoryNode<FixedJacobianNode>
  {
  public:
  
    /// Set the current relative transform of this Fixed Frame
    void setRelativeTransform(const Eigen::Isometry3d& newRelativeTf) override;
  
    // Documentation inherited
    bool dependsOn(std::size_t _genCoordIndex) const override;
  
    // Documentation inherited
    std::size_t getNumDependentGenCoords() const override;
  
    // Documentation inherited
    std::size_t getDependentGenCoordIndex(std::size_t _arrayIndex) const override;
  
    // Documentation inherited
    const std::vector<std::size_t>& getDependentGenCoordIndices() const override;
  
    // Documentation inherited
    std::size_t getNumDependentDofs() const override;
  
    // Documentation inherited
    DegreeOfFreedom* getDependentDof(std::size_t _index) override;
  
    // Documentation inherited
    const DegreeOfFreedom* getDependentDof(std::size_t _index) const override;
  
    // Documentation inherited
    const std::vector<DegreeOfFreedom*>& getDependentDofs() override;
  
    // Documentation inherited
    const std::vector<const DegreeOfFreedom*>& getDependentDofs() const override;
  
    // Documentation inherited
    const std::vector<const DegreeOfFreedom*> getChainDofs() const override;
  
    /// \}
  
    //----------------------------------------------------------------------------
    /// \{ \name Jacobian Functions
    //----------------------------------------------------------------------------
  
    // Documentation inherited
    const math::Jacobian& getJacobian() const override final;
  
    // Prevent the inherited getJacobian functions from being shadowed
    using TemplatedJacobianNode<FixedJacobianNode>::getJacobian;
  
    // Documentation inherited
    const math::Jacobian& getWorldJacobian() const override final;
  
    // Prevent the inherited getWorldJacobian functions from being shadowed
    using TemplatedJacobianNode<FixedJacobianNode>::getWorldJacobian;
  
    // Documentation inherited
    const math::Jacobian& getJacobianSpatialDeriv() const override final;
  
    // Prevent the inherited getJacobianSpatialDeriv functions from being shadowed
    using TemplatedJacobianNode<FixedJacobianNode>::getJacobianSpatialDeriv;
  
    // Documentation inherited
    const math::Jacobian& getJacobianClassicDeriv() const override final;
  
    // Prevent the inherited getJacobianClassicDeriv functions from being shadowed
    using TemplatedJacobianNode<FixedJacobianNode>::getJacobianClassicDeriv;
  
    /// \}
  
  protected:
  
    /// Constructor
    FixedJacobianNode(BodyNode* parent, const Eigen::Isometry3d& transform);
  
    /// Tuple constructor
    FixedJacobianNode(const std::tuple<BodyNode*, Eigen::Isometry3d>& args);
  
    /// Update the Jacobian of this Fixed Frame. getJacobian() calls this function
    /// if mIsBodyJacobianDirty is true.
    void updateBodyJacobian() const;
  
    /// Update the World Jacobian cache.
    void updateWorldJacobian() const;
  
    /// Update the spatial time derivative of the Fixed Frame Jacobian.
    /// getJacobianSpatialDeriv() calls this function if
    /// mIsBodyJacobianSpatialDerivDirty is true.
    void updateBodyJacobianSpatialDeriv() const;
  
    /// Update the classic time derivative of the Fixed Frame Jacobian.
    /// getJacobianClassicDeriv() calls this function if
    /// mIsWorldJacobianClassicDerivDirty is true.
    void updateWorldJacobianClassicDeriv() const;
  
    struct Cache
    {
      /// Cached Jacobian of this Fixed Frame
      ///
      /// Do not use directly! Use getJacobian() to access this quantity
      math::Jacobian mBodyJacobian;
  
      /// Cached World Jacobian of this Fixed Frame
      ///
      /// Do not use directly! Use getWorldJacobian() to access this quantity
      math::Jacobian mWorldJacobian;
  
      /// Spatial time derivative of Fixed Frame Jacobian
      ///
      /// Do not use directly! Use getJacobianSpatialDeriv() to access this quantity
      math::Jacobian mBodyJacobianSpatialDeriv;
  
      /// Classic time derivative of the Fixed Frame Jacobian
      ///
      /// Do not use directly! Use getJacobianClassicDeriv() to access this quantity
      math::Jacobian mWorldJacobianClassicDeriv;
  
      // To get byte-aligned Eigen vectors
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  
    mutable Cache mCache;
  
  };
  
  } // namespace dynamics
  } // namespace dart
  
  #endif // DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
  