ModelContacts.h

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#ifndef _OCRACONTROL_ROBOT_CONTACTS_H_
#define _OCRACONTROL_ROBOT_CONTACTS_H_

#ifdef WIN32
# pragma once
#endif

#include "ocra/optim/ObserverSubject.h"
#include <Eigen/Core>
#include <boost/shared_ptr.hpp>

namespace ocra
{
  class Model;
  class Variable;
  class Feature;
}

namespace ocra
{
  class ModelContacts
    : public ObserverSubject
  {
  public:
    ModelContacts(Model& model);
    ~ModelContacts();

  public:
    ModelContacts& addContactPoint(Variable& f, const Feature& contactFeature);
    ModelContacts& removeContactPoint(Variable& f);
    void removeAllContacts();

    Variable& getContactForcesVariable() const;
    const Eigen::MatrixXd& getJct() const;

    int nbContactPoints() const;
    std::pair<const Variable*, const Feature*> getContactPoint(int index) const; 
    const Variable& getContactForceVariable(int index) const;
    const Feature& getContactFeature(int index) const;

    const Model& getModel() const;

  private:
    void invalidate(int timestamp = 0);

  private:
    struct Pimpl;
    boost::shared_ptr<Pimpl> pimpl;
  };
}

#endif  //_OCRACONTROL_ROBOT_CONTACTS_H_

// cmake:sourcegroup=Api