ruleapplier.h

// Class to apply rule parts to keyframe
// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef RULEAPPLIER_H
#define RULEAPPLIER_H

#include <boost/shared_ptr.hpp>
#include <gait/util/gait_inverse_pose.h>
#include <gait/util/gait_abstract_pose.h>
#include <Eigen/Geometry>
#include <vector>

namespace motionfile
{

class Keyframe;
class RulePart;

typedef boost::shared_ptr<motionfile::Keyframe> KeyframePtr;
    
class RuleApplier
{
public:
    RuleApplier();
    ~RuleApplier();
    
    bool applyRulePart(motionfile::KeyframePtr frame, const std::vector<std::string> &joint_list
    , const motionfile::RulePart &part, double delta, bool apply, bool limit_inverse, double epsilon);

private:
    bool applyJoint(motionfile::KeyframePtr frame, const std::vector<std::string> &joint_list
    , const motionfile::RulePart &part, double delta, bool apply);
    
    bool applyAbstract(motionfile::KeyframePtr frame, const std::vector<std::string> &joint_list
    , const motionfile::RulePart &part, double delta, bool apply);
    
    bool applyInverse(motionfile::KeyframePtr frame, const std::vector<std::string> &joint_list
    , const motionfile::RulePart &part, double delta, bool apply, bool limit_inverse, double epsilon);
    
    double getPos(const gait::AbstractPose& abstract_pose, const std::string& joint_name);
    void setPos(gait::AbstractPose& abstract_pose, const std::string& joint_name, const double value);
    
    double getPos(const gait::InversePose& inverse_pose, const std::string& joint_name);
    void setPos(gait::InversePose& inverse_pose, const std::string& joint_name, const double value);
    
    bool inAbstractLimits(const std::string& joint_name, const double value);
    bool inInverseLimits(const std::string& joint_name, const double value);
    
private:
    gait::InversePose m_inverse_pose;
    gait::InversePose m_temp_inverse_pose;
};

}

#endif