finger.h

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#pragma once
 
#include <iostream>
#include <vector>
#include <filesystem>
#include <fstream>
 
#include <igl/opengl/glfw/Viewer.h>
#include "dynamics_math.h"
#include "euler_rotations.h"
 
#include "./nlohmann/json.hpp"
 
class Finger
{
public:
    Finger() {};
 
    void initialize(const std::string& name_id, const nlohmann::json& json_file, 
        igl::opengl::glfw::Viewer *viewer, int mesh_idx);
 
    void update(const std::vector<dm::JointState>& state);
 
    std::vector<Eigen::MatrixXd> get_vertices(void) { return m_vertices_data; }
 
    std::vector<int> get_frame_ids(void) { return m_frame_ids; };
 
    void load_mesh_files(igl::opengl::glfw::Viewer *viewer);
 
    std::vector<dm::JointState> get_state(void) { return m_state_vec; }
 
private: 
 
    std::string m_name_id;
 
    dm::JointState m_origin;
 
    std::vector<double> m_link_lengths;
 
    std::vector<int> m_frame_ids;
 
    void parse_json_file(const nlohmann::json& json_file);
 
private:
 
    std::string m_joint_rel_filename = "share/joint.obj";
 
    std::string m_bone_rel_filename = "share/bone.obj";
 
    std::vector<std::string> m_meshes_filenames;
 
    void initialize_mesh_containers(void);
 
    double m_joint_scale = 0.05;
 
    std::vector<double> m_geom_scales;
 
    int m_viewer_data_lower_idx;
 
    int m_viewer_data_upper_idx;
 
private:
 
    void get_mesh_data(igl::opengl::glfw::Viewer *viewer);
 
    std::vector<Eigen::MatrixXd> m_vertices_data_o;
 
    std::vector<Eigen::MatrixXd> m_vertices_data_oh;
 
    std::vector<Eigen::MatrixXd> m_vertices_data;
 
    std::vector<Eigen::MatrixXi> m_faces_data;
 
    void postprocess_meshes(void);
 
private:
 
    void initialize_state(const std::vector<double>& link_lengths, 
        const dm::JointState& origin);
 
    std::vector<dm::JointState> m_state_vec;
 
    int m_state_size;
 
    std::vector<Eigen::Matrix4d> m_local_transform;
 
    std::vector<Eigen::Matrix4d> m_global_transform;
};