final structural changes for major release

apps/atlasSimbicon/Controller.cpp

@@ -73,7 +73,8 @@ Controller::Controller(SkeletonPtr _atlasRobot,
 //  harnessLeftFoot();
 //  harnessRightFoot();
 
-  mInitialState = mAtlasRobot->getState();
+  mInitialState = mAtlasRobot->getConfiguration(
+        Skeleton::CONFIG_POSITIONS | Skeleton::CONFIG_VELOCITIES);
 }
 
 //==============================================================================
@@ -303,7 +304,7 @@ void Controller::unharnessRightFoot()
 //==============================================================================
 void Controller::resetRobot()
 {
-  mAtlasRobot->setState(mInitialState);
+  mAtlasRobot->setConfiguration(mInitialState);
 
   dtmsg << "Robot is reset." << std::endl;
 }

apps/atlasSimbicon/Controller.h

@@ -181,7 +181,7 @@ class Controller
   dart::constraint::WeldJointConstraintPtr mWeldJointConstraintRightFoot;
 
   /// \brief Initial state of the robot
-  Eigen::VectorXd mInitialState;
+  dart::dynamics::Skeleton::Configuration mInitialState;
 };
 
 #endif  // APPS_ATLASROBOT_CONTROLLER_H_

dart/common/Composite.h

@@ -37,7 +37,7 @@
 #ifndef DART_COMMON_COMPOSITE_H_
 #define DART_COMMON_COMPOSITE_H_
 
-#include "dart/common/detail/CompositeStateAndProperties.h"
+#include "dart/common/detail/CompositeData.h"
 
 namespace dart {
 namespace common {
@@ -62,11 +62,11 @@ class Composite
   using AspectMap = std::map< std::type_index, std::unique_ptr<Aspect> >;
   using RequiredAspectSet = std::unordered_set<std::type_index>;
 
-  template <typename... Data>
-  using MakeState = detail::MakeCompositeState<Data...>;
+  template <typename... Aspects>
+  using MakeState = detail::MakeCompositeState<Aspects...>;
 
-  template <typename... Data>
-  using MakeProperties = detail::MakeCompositeProperties<Data...>;
+  template <typename... Aspects>
+  using MakeProperties = detail::MakeCompositeProperties<Aspects...>;
 
   /// Virtual destructor
   virtual ~Composite() = default;

dart/common/detail/CompositeStateAndProperties.h → dart/common/detail/CompositeData.h

@@ -147,10 +147,18 @@ using CompositeState = CompositeData<CompositeStateMap, GetState>;
 using CompositeProperties = CompositeData<CompositePropertiesMap, GetProperties>;
 
 //==============================================================================
-template <class CompositeType, template<class> class GetData, typename... Args>
+template <class CompositeType, template<class> class GetData, typename... Aspects>
 class ComposeData
 {
 public:
+
+  ComposeData() = default;
+
+  ComposeData(const CompositeType&)
+  {
+    // Do nothing
+  }
+
   virtual ~ComposeData() = default;
 
   void setFrom(const CompositeType&)
@@ -178,6 +186,7 @@ struct ComposeData<CompositeType, GetData, AspectT, Remainder...> :
   enum Delegate_t { Delegate };
 
   using Base = typename GetData<AspectT>::Type;
+  using Data = typename Base::Data;
   using AspectType = typename GetAspect<AspectT>::Type;
 
   template <typename Arg>
@@ -188,15 +197,51 @@ struct ComposeData<CompositeType, GetData, AspectT, Remainder...> :
         typename Base::Data, Arg>::type;
   };
 
+  template <typename Arg>
+  struct ConvertIfComposite
+  {
+    using Type = typename static_if_else<
+        std::is_base_of<CompositeType, Arg>::value,
+        CompositeType, Arg>::type;
+  };
+
   ComposeData() = default;
 
   virtual ~ComposeData() = default;
 
-  template <typename... Args>
-  ComposeData(Args&&... args)
-    : ComposeData<CompositeType, GetData, Remainder...>(std::forward<Args>(args)...)
+  template <typename Arg1, typename... Args>
+  ComposeData(const Arg1& arg1, const Args&... args)
+    : ComposeData(
+        Delegate,
+        static_cast<const typename ConvertIfData<Arg1>::Type&>(arg1),
+        args...)
   {
-    // Do nothing
+    // This constructor delegates
+  }
+
+  /// Grab relevant data out of a composite object
+  ComposeData(const CompositeType& composite)
+    : ComposeData<CompositeType, GetData, Remainder...>(composite)
+  {
+    _setBaseFrom(composite);
+  }
+
+  template <typename... Aspects>
+  ComposeData(const ComposeData<CompositeType, GetData, Aspects...>& composite)
+    : ComposeData(static_cast<const CompositeType&>(composite))
+  {
+    // This is a delegating constructor. If we get passed another ComposeData
+    // object, then we convert it into a composite to ensure that we grab all
+    // of its aspects.
+  }
+
+  // Dev Note: We must not use the argument 'composite' as a temporary, or else
+  // it will get deleted when it reaches the last base constructor, preventing
+  // any higher level constructors from calling _setBaseFrom(~) on it.
+  ComposeData(CompositeType&& composite)
+    : ComposeData(static_cast<const CompositeType&>(composite))
+  {
+    // This is a delegating constructor
   }
 
   operator CompositeType() const
@@ -209,10 +254,7 @@ struct ComposeData<CompositeType, GetData, AspectT, Remainder...> :
 
   void setFrom(const CompositeType& composite)
   {
-    const Base* data = composite.template get<AspectType>();
-    if(data)
-      static_cast<Base&>(*this) = *data;
-
+    _setBaseFrom(composite);
     ComposeData<CompositeType, GetData, Remainder...>::setFrom(composite);
   }
 
@@ -222,8 +264,40 @@ struct ComposeData<CompositeType, GetData, AspectT, Remainder...> :
     return *this;
   }
 
+  /// Grab any relevant data and copy it into this composite. Note that there
+  /// will be NO compilation error, even if there is no relevant data in any of
+  /// the arguments that get passed in. It will simply ignore all the arguments
+  /// silently.
+  template <typename... Args>
+  void copy(const Args&... args)
+  {
+    _findData(args...);
+  }
+
 protected:
 
+  template <typename... Args>
+  ComposeData(Delegate_t, const Args&... args)
+    : ComposeData<CompositeType, GetData, Remainder...>(args...)
+  {
+    // Pass all the arguments along to the next base class
+  }
+
+  template <typename... Args>
+  ComposeData(Delegate_t, const Data& arg1, const Args&... args)
+    : Base(arg1),
+      ComposeData<CompositeType, GetData, Remainder...>(args...)
+  {
+    // Peel off the first argument and then pass along the rest
+  }
+
+  void _setBaseFrom(const CompositeType& composite)
+  {
+    const Base* data = composite.template get<AspectType>();
+    if(data)
+      static_cast<Base&>(*this) = *data;
+  }
+
   void _addData(CompositeType& composite) const
   {
     composite.template create<AspectType>(static_cast<const Base&>(*this));
@@ -236,27 +310,32 @@ struct ComposeData<CompositeType, GetData, AspectT, Remainder...> :
   }
 
   template <typename Arg1, typename... Args>
-  void _findData(Arg1 arg1, Args&&... args)
+  void _findData(const Arg1& arg1, const Args&... args)
   {
-    _useIfData(static_cast<const typename ConvertIfData<Arg1>::Type&>(arg1));
-    _findData(std::forward<Args>(args)...);
+    _attemptToUse(static_cast<const typename ConvertIfData<Arg1>::Type&>(arg1));
+    _findData(args...);
   }
 
   template <typename Arg>
-  void _useIfData(Arg)
+  void _attemptToUse(const Arg&)
   {
     // Do nothing
   }
 
-  void _useIfData(const typename Base::Data& data)
+  void _attemptToUse(const typename Base::Data& data)
   {
     static_cast<Base&>(*this) = data;
   }
+
+  void _attemptToUse(const CompositeType& composite)
+  {
+    _setBaseFrom(composite);
+  }
 };
 
 //==============================================================================
-template <typename... Data>
-using MakeCompositeState = ComposeData<CompositeState, GetState, Data...>;
+template <typename... Aspects>
+using MakeCompositeState = ComposeData<CompositeState, GetState, Aspects...>;
 
 template <typename... Data>
 using MakeCompositeProperties =

dart/dynamics/BodyNode.cpp

@@ -338,7 +338,7 @@ void BodyNode::setAspectProperties(const AspectProperties& properties)
 //==============================================================================
 BodyNode::Properties BodyNode::getBodyNodeProperties() const
 {
-  return mAspectProperties;
+  return getCompositeProperties();
 }
 
 //==============================================================================
@@ -895,7 +895,7 @@ const Joint* BodyNode::getChildJoint(size_t _index) const
 //==============================================================================
 ShapeNode* BodyNode::createShapeNode(const ShapePtr& shape)
 {
-  ShapeNode::Properties properties;
+  ShapeNode::BasicProperties properties;
   properties.mShape = shape;
 
   return createShapeNode(properties, true);
@@ -905,7 +905,7 @@ ShapeNode* BodyNode::createShapeNode(const ShapePtr& shape)
 ShapeNode* BodyNode::createShapeNode(const ShapePtr& shape,
                                      const std::string& name)
 {
-  ShapeNode::Properties properties;
+  ShapeNode::BasicProperties properties;
   properties.mShape = shape;
   properties.mName = name;
 
@@ -973,7 +973,7 @@ void BodyNode::removeAllShapeNodes()
 //==============================================================================
 EndEffector* BodyNode::createEndEffector(const std::string& _name)
 {
-  EndEffector::Properties properties;
+  EndEffector::BasicProperties properties;
   properties.mName = _name;
 
   return createNode<EndEffector>(properties);

dart/dynamics/BodyNode.h

@@ -104,7 +104,7 @@ class BodyNode :
   using NodePropertiesMap = detail::NodePropertiesMap;
 
   using AspectProperties = detail::BodyNodeAspectProperties;
-  using Properties = detail::BodyNodeProperties;
+  using Properties = common::Composite::MakeProperties<BodyNode>;
 
   BodyNode(const BodyNode&) = delete;
 

dart/dynamics/EndEffector.cpp

@@ -76,26 +76,9 @@ bool Support::isActive() const
 }
 
 //==============================================================================
-EndEffector::Properties::Properties(
-    const FixedFrame::AspectProperties& fixedFrameProperties,
-    const UniqueProperties& effectorProperties,
-    const NameAspect::Properties& name,
-    const common::Composite::Properties& compositeProperties)
-  : FixedFrame::AspectProperties(fixedFrameProperties),
-    UniqueProperties(effectorProperties),
-    NameAspect::Properties(name),
-    mCompositeProperties(compositeProperties)
+void EndEffector::setProperties(const BasicProperties& properties)
 {
-  // Do nothing
-}
-
-//==============================================================================
-void EndEffector::setProperties(const Properties& properties)
-{
-  FixedFrame::setAspectProperties(properties);
-  setAspectProperties(properties);
-  get<NameAspect>()->setProperties(properties);
-  setCompositeProperties(properties.mCompositeProperties);
+  setCompositeProperties(properties);
 }
 
 //==============================================================================
@@ -114,11 +97,7 @@ void EndEffector::setAspectProperties(const AspectProperties& properties)
 //==============================================================================
 EndEffector::Properties EndEffector::getEndEffectorProperties() const
 {
-  return Properties(
-        FixedFrame::getAspectProperties(),
-        getAspectProperties(),
-        get<NameAspect>()->getProperties(),
-        getCompositeProperties());
+  return getCompositeProperties();
 }
 
 //==============================================================================
@@ -177,7 +156,7 @@ void EndEffector::notifyTransformUpdate()
 }
 
 //==============================================================================
-EndEffector::EndEffector(BodyNode* parent, const Properties& properties)
+EndEffector::EndEffector(BodyNode* parent, const BasicProperties& properties)
   : Entity(ConstructFrame),
     Frame(parent),
     FixedFrame(parent, properties.mDefaultTransform),

dart/dynamics/EndEffector.h

@@ -129,22 +129,12 @@ class EndEffector final :
 
   using UniqueProperties = detail::EndEffectorProperties;
 
-  struct Properties :
-      FixedFrame::AspectProperties,
-      UniqueProperties,
-      NameAspect::Properties
-  {
-    Properties(
-        const FixedFrame::AspectProperties& fixedFrameProperties
-            = FixedFrame::AspectProperties(),
-        const UniqueProperties& effectorProperties = UniqueProperties(),
-        const NameAspect::Properties& name = "EndEffector",
-        const common::Composite::Properties& compositeProperties =
-            common::Composite::Properties());
-
-    /// The properties of the EndEffector's Aspects
-    common::Composite::Properties mCompositeProperties;
-  };
+  using BasicProperties = common::Composite::MakeProperties<
+      NameAspect,
+      FixedFrame,
+      EndEffector>;
+
+  using Properties = common::Composite::Properties;
 
   /// Destructor
   virtual ~EndEffector() = default;
@@ -155,7 +145,7 @@ class EndEffector final :
 
   /// Set the Properties of this EndEffector. If _useNow is true, the current
   /// Transform will be set to the new default transform.
-  void setProperties(const Properties& _properties);
+  void setProperties(const BasicProperties& _properties);
 
   /// Set the Properties of this EndEffector. If _useNow is true, the current
   /// Transform will be set to the new default transform.
@@ -202,7 +192,7 @@ class EndEffector final :
 protected:
 
   /// Constructor used by the Skeleton class
-  explicit EndEffector(BodyNode* parent, const Properties& properties);
+  explicit EndEffector(BodyNode* parent, const BasicProperties& properties);
 
   /// Create a clone of this BodyNode. This may only be called by the Skeleton
   /// class.

dart/dynamics/ShapeFrame.cpp

@@ -263,6 +263,7 @@ ShapeFrame::ShapeFrame(Frame* parent, const Properties& properties)
     onShapeUpdated(mShapeUpdatedSignal),
     onRelativeTransformUpdated(mRelativeTransformUpdatedSignal)
 {
+  createAspect<Aspect>();
   mAmShapeFrame = true;
   setProperties(properties);
 }
@@ -278,10 +279,18 @@ ShapeFrame::ShapeFrame(Frame* parent,
     onShapeUpdated(mShapeUpdatedSignal),
     onRelativeTransformUpdated(mRelativeTransformUpdatedSignal)
 {
+  createAspect<Aspect>();
   mAmShapeFrame = true;
   setShape(shape);
 }
 
+//==============================================================================
+ShapeFrame::ShapeFrame(const std::tuple<Frame*, Properties>& args)
+  : ShapeFrame(std::get<0>(args), std::get<1>(args))
+{
+  // Delegating constructor
+}
+
 } // namespace dynamics
 } // namespace dart