Program Listing for File ChainedFrameToFrame.h

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/**
 * @file
 * @brief Contains the declarations for the ChainedFrameToFrame class.
 */

#pragma once

#include "Karana/Frame/OrientedChainedFrameToFrame.h"

namespace Karana::Frame {

    namespace kc = Karana::Core;
    namespace km = Karana::Math;

    /**
     * @class ChainedFrameToFrame
     * @brief FrameToFrame class connecting arbitrary oframe/pframe Frame pairs
     *
     * The oframe and pframe frames can be located anywhere in the
     * frames tree.
     *
     * See \sref{frames_layer_sec} for more discussion on
     * the frames layer.
     */
    class ChainedFrameToFrame : public FrameToFrame {
        // For access to _empty
        friend class Frame;

      public:
        /**
         * @brief Constructor for ChainedFrameToFrame.
         * @param oframe oframe of the ChainedFrameToFrame.
         * @param pframe pframe of the ChainedFrameToFrame.
         * @param name for the chain
         */
        ChainedFrameToFrame(const kc::ks_ptr<Frame> &oframe,
                            const kc::ks_ptr<Frame> &pframe,
                            std::string_view name = "");

        /**
         * @brief Looks up or creates a ChainedFrameToFrame between two frames.
         * @param oframe The oframe of the chain.
         * @param pframe The pframe of the chain.
         * @return The ChainedFrameToFrame that connects the oframe and pframe.
         */
        static const kc::ks_ptr<ChainedFrameToFrame> &
        lookupOrCreate(const kc::ks_ptr<Frame> &oframe, const kc::ks_ptr<Frame> &pframe);

        std::string
        dumpString(std::string_view prefix = "",
                   const Karana::Core::Base::DumpOptions *options = nullptr) const override;

      protected:
        /**
         * @brief Empty out the ChainedFrameToFrame completely. This happens when the oframe or
         * pframe associated with the ChainedFrameToFrame is deleted.
         */
        void _empty() override;

        /**
         * @brief Used to tear down cached info - it will be rebuilt
         */
        void _makeNotHealthy() override;

        /**
         * @brief Used to setup the ChainedFrameToFrame.
         *
         * must be called by the constructor as well as after a _makeNotHealthy() call
         */
        void _setup();

        /**
         * @brief Used to lock the ChainedFrameToFrame.
         */
        void _makeHealthy() override;

        /**
         * @brief Compute the transformation between the oframe and pframe.
         */
        void _computeTransform(km::HomTran &) override;

        /**
         * @brief Compute the spatial velocity between the oframe and pframe.
         */
        void _computeVelocity(km::SpatialVector &) override;

        /**
         * @brief Compute the spatial acceleration between the oframe and pframe.
         */
        void _computeAccel(km::SpatialVector &) override;

        /**
         * @brief Discard the provided ChainedFrameToFrame.
         * @param base - Base pointer to the ChainedFrameToFrame to discard.
         */
        void _discard(kc::ks_ptr<Base> &base) override;

      private:
        kc::ks_ptr<Frame> _ancestor = nullptr;
        kc::ks_ptr<OrientedChainedFrameToFrame> _forward = nullptr;
        kc::ks_ptr<OrientedChainedFrameToFrame> _opposed = nullptr;
        kc::ks_ptr<ChainedFrameToFrame> _rev_opposed = nullptr;
    };

} // namespace Karana::Frame