finished implementation and integration of SpecializedNodeManagers

dart/common/NameManager.h

@@ -71,7 +71,7 @@ class NameManager
               const std::string& _defaultName = "default");
 
   /// Destructor
-  virtual ~NameManager();
+  virtual ~NameManager() = default;
 
   /// Set a new pattern for name generation.
   ///

dart/common/detail/NameManager.h

@@ -58,13 +58,6 @@ NameManager<T>::NameManager(const std::string& _managerName,
   // Do nothing
 }
 
-//==============================================================================
-template <class T>
-NameManager<T>::~NameManager()
-{
-  // Do nothing
-}
-
 //==============================================================================
 template <class T>
 bool NameManager<T>::setPattern(const std::string& _newPattern)

dart/dynamics/Addon.h

@@ -38,7 +38,7 @@
 #define DART_DYNAMICS_ADDON_H_
 
 #include "dart/common/Addon.h"
-#include "dart/dynamics/Skeleton.h"
+#include "dart/dynamics/SmartPointer.h"
 
 namespace dart {
 namespace dynamics {
@@ -228,6 +228,145 @@ class AddonWithProtectedStateAndPropertiesInSkeleton : public common::Addon
 } // namespace dynamics
 } // namespace dart
 
+//==============================================================================
+#define DART_DYNAMICS_ADDON_PROPERTY_CONSTRUCTOR( ClassName, UpdatePropertiesMacro )\
+  ClassName (const ClassName &) = delete;\
+  inline ClassName (dart::common::AddonManager* mgr, const PropertiesData& properties)\
+    : AddonWithProtectedPropertiesInSkeleton< Base, PropertiesData, ManagerType, UpdatePropertiesMacro, Optional>(mgr, properties) { }
+
+//==============================================================================
+#define DART_DYNAMICS_JOINT_ADDON_CONSTRUCTOR( ClassName )\
+  DART_DYNAMICS_ADDON_PROPERTY_CONSTRUCTOR( ClassName, &detail::JointPropertyUpdate )
+
+//==============================================================================
+#define DART_DYNAMICS_ADDON_STATE_PROPERTY_CONSTRUCTORS( ClassName, UpdateStateMacro, UpdatePropertiesMacro )\
+  ClassName (const ClassName &) = delete;\
+  inline ClassName (dart::common::AddonManager* mgr, const StateData& state = StateData(), const PropertiesData& properties = PropertiesData())\
+    : AddonWithProtectedStateAndPropertiesInSkeleton< Base, StateData, PropertiesData, ManagerType, UpdateStateMacro, UpdatePropertiesMacro, Optional >(mgr, state, properties) { }\
+  inline ClassName (dart::common::AddonManager* mgr, const PropertiesData& properties, const StateData state = StateData())\
+    : AddonWithProtectedStateAndPropertiesInSkeleton< Base, StateData, PropertiesData, ManagerType, UpdateStateMacro, UpdatePropertiesMacro, Optional >(mgr, properties, state) { }
+
+//==============================================================================
+#define DART_DYNAMICS_SET_ADDON_PROPERTY_CUSTOM( Type, Name, Update )\
+  inline void set ## Name (const Type & value)\
+  { mProperties.m ## Name = value; Update(this); incrementSkeletonVersion(); }
+
+//==============================================================================
+#define DART_DYNAMICS_SET_ADDON_PROPERTY( Type, Name )\
+  DART_DYNAMICS_SET_ADDON_PROPERTY_CUSTOM( Type, Name, UpdateProperties )
+
+//==============================================================================
+#define DART_DYNAMICS_GET_ADDON_PROPERTY( Type, Name )\
+  inline const Type& get ## Name () const\
+  { return mProperties.m ## Name; }
+
+//==============================================================================
+#define DART_DYNAMICS_SET_GET_ADDON_PROPERTY( Type, Name )\
+  DART_DYNAMICS_SET_ADDON_PROPERTY( Type, Name )\
+  DART_DYNAMICS_GET_ADDON_PROPERTY( Type, Name )
+
+//==============================================================================
+#define DART_DYNAMICS_SET_ADDON_PROPERTY_ARRAY( Class, SingleType, VectorType, SingleName, PluralName, Size, UpdatePrefix )\
+  void set ## SingleName (size_t index, const SingleType & value)\
+  {\
+    if( index >= Size )\
+    {\
+      dterr << "[" #Class << "::set" #SingleName << "] Invalid index (" << index << "). "\
+            << "The specified index must be less than " #Size << "!\n";\
+      assert(false); return;\
+    }\
+    this->mProperties.m ## PluralName [index] = value;\
+    UpdatePrefix :: UpdateProperties(this);\
+    this->incrementSkeletonVersion();\
+  }\
+  void set ## PluralName (const VectorType & vec)\
+  {\
+    this->mProperties.m ## PluralName = vec;\
+    UpdatePrefix :: UpdateProperties(this);\
+    this->incrementSkeletonVersion();\
+  }
+
+//==============================================================================
+#define DART_DYNAMICS_GET_ADDON_PROPERTY_ARRAY(Class, SingleType, VectorType, SingleName, PluralName, Size)\
+  inline const SingleType& get ## SingleName (size_t index) const\
+  {\
+    if(index >= Size)\
+    {\
+      dterr << "[" #Class << "::get" #SingleName << "] Invalid index (" << index << "). "\
+            << "The specified index must be less than " #Size << "!\n";\
+      assert(false); index = 0;\
+    }\
+    return this->mProperties.m ## PluralName [index];\
+  }\
+  inline const VectorType& get ## PluralName () const\
+  {\
+    return this->mProperties.m ## PluralName;\
+  }
+
+//==============================================================================
+#define DART_DYNAMICS_IRREGULAR_SET_GET_ADDON_PROPERTY_ARRAY( Class, SingleType, VectorType, SingleName, PluralName, Size, UpdatePrefix )\
+  DART_DYNAMICS_SET_ADDON_PROPERTY_ARRAY( Class, SingleType, VectorType, SingleName, PluralName, Size, UpdatePrefix )\
+  DART_DYNAMICS_GET_ADDON_PROPERTY_ARRAY( Class, SingleType, VectorType, SingleName, PluralName, Size )
+
+//==============================================================================
+#define DART_DYNAMICS_SET_GET_ADDON_PROPERTY_ARRAY( Class, SingleType, VectorType, SingleName, Size, UpdatePrefix )\
+  DART_DYNAMICS_IRREGULAR_SET_GET_ADDON_PROPERTY_ARRAY( Class, SingleType, VectorType, SingleName, SingleName ## s, Size, UpdatePrefix )
+
+//==============================================================================
+#define DART_DYNAMICS_IRREGULAR_SET_GET_MULTIDOF_ADDON( SingleType, VectorType, SingleName, PluralName )\
+  DART_DYNAMICS_IRREGULAR_SET_GET_ADDON_PROPERTY_ARRAY( MultiDofJointAddon, SingleType, VectorType, SingleName, PluralName, DOF, MultiDofJoint<DOF>::Addon )
+
+//==============================================================================
+#define DART_DYNAMICS_SET_GET_MULTIDOF_ADDON( SingleType, VectorType, SingleName )\
+  DART_DYNAMICS_IRREGULAR_SET_GET_MULTIDOF_ADDON( SingleType, VectorType, SingleName, SingleName ## s )
+
+//==============================================================================
+#define DETAIL_DART_ADDON_PROPERTIES_UPDATE( AddonName, GetAddon )\
+  AddonName :: UpdateProperties( GetAddon () );\
+  GetAddon ()->incrementSkeletonVersion();
+
+//==============================================================================
+#define DETAIL_DART_ADDON_STATE_PROPERTIES_UPDATE( AddonName, GetAddon )\
+  AddonName :: UpdateState( GetAddon () );\
+  DETAIL_DART_ADDON_PROPERTIES_UPDATE( AddonName, GetAddon );
+
+//==============================================================================
+// Used for Addons that have Properties (but no State) inside of a Skeleton
+#define DART_DYNAMICS_SKEL_PROPERTIES_ADDON_INLINE( AddonName )\
+  DETAIL_DART_SPECIALIZED_ADDON_INLINE( AddonName,\
+      DETAIL_DART_ADDON_PROPERTIES_UPDATE( AddonName, get ## AddonName ) )
+
+//==============================================================================
+// Used for Addons that have both State and Properties inside of a Skeleton
+#define DART_DYNAMICS_SKEL_ADDON_INLINE( AddonName )\
+  DETAIL_DART_SPECIALIZED_ADDON_INLINE( AddonName,\
+      DETAIL_DART_ADDON_STATE_PROPERTIES_UPDATE( AddonName, get ## AddonName ) )
+
+//==============================================================================
+// Used for edge cases, such as nested template classes, that have Properties
+// (but no State) inside of a Skeleton
+#define DART_DYNAMICS_IRREGULAR_SKEL_PROPERTIES_ADDON_INLINE( TypeName, HomogenizedName )\
+  DETAIL_DART_IRREGULAR_SPECIALIZED_ADDON_INLINE( TypeName, HomogenizedName,\
+    DETAIL_DART_ADDON_PROPERTIES_UPDATE( TypeName, get ## HomogenizedName ) )
+
+//==============================================================================
+// Used for edge cases, such as nested template classes, that have both State
+// and Properties inside of a Skeleton
+#define DART_DYNAMICS_IRREGULAR_SKEL_ADDON_INLINE( TypeName, HomogenizedName )\
+  DETAIL_DART_IRREGULAR_SPECIALIZED_ADDON_INLINE( TypeName, HomogenizedName,\
+    DETAIL_DART_ADDON_STATE_PROPERTIES_UPDATE( TypeName, get ## HomogenizedName ) )
+
+//==============================================================================
+// Used for nested-class Addons that have Properties (but no State) inside of a Skeleton
+#define DART_DYNAMICS_NESTED_SKEL_PROPERTIES_ADDON_INLINE( ParentName, AddonName )\
+  DART_DYNAMICS_IRREGULAR_SKEL_PROPERTIES_ADDON_INLINE( ParentName :: AddonName, ParentName ## AddonName )
+
+//==============================================================================
+// Used for nested-class Addons that have both State and Properties inside of a Skeleton
+#define DART_DYNAMICS_NESTED_SKEL_ADDON_INLINE( ParentName, AddonName )\
+  DART_DYNAMICS_IRREGULAR_SKEL_ADDON_INLINE( ParentName :: AddonName, ParentName ## AddonName )
+
+#include "dart/dynamics/Skeleton.h"
 #include "dart/dynamics/detail/Addon.h"
 
 #endif // DART_DYNAMICS_ADDON_H_

dart/dynamics/BodyNode.h

@@ -84,7 +84,7 @@ class Marker;
 /// BodyNode of the BodyNode.
 class BodyNode :
     public virtual common::AddonManager,
-    public virtual detail::BasicNodeManagerForBodyNode,
+    public virtual SpecializedNodeManagerForBodyNode<EndEffector>,
     public SkeletonRefCountingBase,
     public TemplatedJacobianNode<BodyNode>
 {
@@ -1236,7 +1236,7 @@ class BodyNode :
 }  // namespace dart
 
 #include "dart/dynamics/Skeleton.h"
-// Developer's Note: Skeleton.h needs to be included after the BodyNode class is
-// defined in order for the header dependencies to work out correctly.
+// These headers need to be included after the BodyNode class is defined in
+// order for the header dependencies to work out correctly.
 
 #endif  // DART_DYNAMICS_BODYNODE_H_

dart/dynamics/Skeleton.h

@@ -58,7 +58,7 @@ namespace dynamics {
 /// class Skeleton
 class Skeleton :  public virtual common::AddonManager,
                   public MetaSkeleton,
-                  public virtual detail::BasicNodeManagerForSkeleton
+                  public virtual SpecializedNodeManagerForSkeleton<EndEffector>
 {
 public:
 
@@ -1313,6 +1313,9 @@ class Skeleton :  public virtual common::AddonManager,
 }  // namespace dynamics
 }  // namespace dart
 
+#include "dart/dynamics/EndEffector.h"
+#include "dart/dynamics/detail/SpecializedNodeManager.h"
+
 #include "dart/dynamics/detail/Skeleton.h"
 #include "dart/dynamics/detail/BodyNode.h"
 

dart/dynamics/SpecializedNodeManager.h

@@ -37,6 +37,7 @@
 #ifndef DART_DYNAMICS_SPECIALIZEDNODEMANAGER_H_
 #define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_H_
 
+#include "dart/common/Virtual.h"
 #include "dart/dynamics/detail/BasicNodeManager.h"
 #include "dart/dynamics/NodeManagerJoiner.h"
 
@@ -114,8 +115,8 @@ class SpecializedNodeManagerForBodyNode<SpecNode> :
 template <class SpecNode1, class... OtherSpecNodes>
 class SpecializedNodeManagerForBodyNode<SpecNode1, OtherSpecNodes...> :
     public NodeManagerJoinerForBodyNode<
-      SpecializedNodeManagerForBodyNode<SpecNode1>,
-      SpecializedNodeManagerForBodyNode<OtherSpecNodes...> > { };
+      common::Virtual< SpecializedNodeManagerForBodyNode<SpecNode1> >,
+      common::Virtual< SpecializedNodeManagerForBodyNode<OtherSpecNodes...> > > { };
 
 //==============================================================================
 /// Declaration of the variadic template
@@ -201,12 +202,12 @@ class SpecializedNodeManagerForSkeleton<SpecNode> :
 template <class SpecNode1, class... OtherSpecNodes>
 class SpecializedNodeManagerForSkeleton<SpecNode1, OtherSpecNodes...> :
     public NodeManagerJoinerForSkeleton<
-      SpecializedNodeManagerForSkeleton<SpecNode1>,
-      SpecializedNodeManagerForSkeleton<OtherSpecNodes...> > { };
+      common::Virtual< SpecializedNodeManagerForSkeleton<SpecNode1> >,
+      common::Virtual< SpecializedNodeManagerForSkeleton<OtherSpecNodes...> > > { };
 
 } // namespace dynamics
 } // namespace dart
 
-#include "dart/dynamics/detail/SpecializedNodeManager.h"
+#include "dart/dynamics/BodyNode.h"
 
 #endif // DART_DYNAMICS_SPECIALIZEDNODEMANAGER_H_