Element.h

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#pragma once

#include <stdint.h>
#include <memory>
#include <utility>

#include <Eigen/Dense>
#include <Eigen/StdVector>

#include "drake/drakeCollision_export.h"
#include "drake/systems/plants/shapes/DrakeShapes.h"

// Forward declaration.
// This forward declaration is made in order to be able to add a reference
// to the parent body without the collision element ever using the RigidBody or
// any of its methods.
// This is particularly useful when the physics engine (at the RigidBody or
// RigidBodyTree scope) needs to retrieve the parent body (for instance to
// query its world transform).
class RigidBody;

namespace DrakeCollision {
typedef uintptr_t ElementId;

class DRAKECOLLISION_EXPORT Element : public DrakeShapes::Element {
 public:
  Element(const Eigen::Isometry3d& T_element_to_local =
              Eigen::Isometry3d::Identity());

  Element(const DrakeShapes::Geometry& geometry,
          const Eigen::Isometry3d& T_element_to_local =
              Eigen::Isometry3d::Identity());

  virtual ~Element() {}

  virtual Element* clone() const;

  ElementId getId() const;

  virtual bool isStatic() const { return false; }

  void set_static() { is_static_ = true;}

  bool is_static() { return is_static_;}

  virtual bool CollidesWith(const Element* other) const { return true; }

  const RigidBody* get_body() const;

  void set_body(const RigidBody *body);

  friend DRAKECOLLISION_EXPORT std::ostream& operator<<(std::ostream&,
                                                        const Element&);

 protected:
  Element(const Element& other);

 private:
  ElementId id;
  bool is_static_{false};
  const RigidBody* body_{};

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace DrakeCollision