Node.h

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/*
Node header file
 
Author: Alex Reynolds
*/
#ifndef FRAMES_NODE_H
#define FRAMES_NODE_H
 
#include "Frame.h"
 
namespace warptwin {

    class Node : public Frame {
    public:
        Node(const std::string &name, Frame *par=nullptr);

        const Joint& tJoint() {return _t_joint;} 

        const Joint& rJoint() {return _r_joint;} 

        clockwerk::DataIO<clockwerk::CartesianVector<3>> force 
            = clockwerk::DataIO<clockwerk::CartesianVector<3>>(nullptr, "force", clockwerk::CartesianVector<3>({0.0,0.0,0.0}));
        clockwerk::DataIO<Frame*> force_frame = clockwerk::DataIO<Frame*>(nullptr, "force_frame", nullptr);

        clockwerk::DataIO<clockwerk::CartesianVector<3>> moment = clockwerk::DataIO<clockwerk::CartesianVector<3>>(nullptr, 
                          "moment", clockwerk::CartesianVector<3>({0.0,0.0,0.0}));
        clockwerk::DataIO<Frame*> moment_frame = clockwerk::DataIO<Frame*>(nullptr, "moment_frame", nullptr);
 
        /* Nice handle to the node itself for mapping*/
        clockwerk::DataIO<Node*> self_id = clockwerk::DataIO<Node*>(nullptr, "self_id", this);

        void getFMPairAtParentOrigin(clockwerk::CartesianVector<3> &force_parentcg__p, clockwerk::CartesianVector<3> &moment_parentcg__p);
 
        clockwerk::CartesianVector<3> passthroughForce() {return _passthrough_force__b;}
        clockwerk::CartesianVector<3> passthroughMoment() {return _passthrough_moment__b;}
    protected:
        clockwerk::CartesianVector<3> _passthrough_force__b;
        clockwerk::CartesianVector<3> _passthrough_moment__b;
    };
 
}
 
#endif