DART  6.10.1
ScrewJointAspect.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
35 
36 #include <string>
37 
38 #include <Eigen/Dense>
39 
41 
42 namespace dart {
43 namespace dynamics {
44 
45 class ScrewJoint;
46 
47 namespace detail {
48 
49 //==============================================================================
51 {
53  Eigen::Vector3d mAxis;
54 
56  double mPitch;
57 
59  const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ(),
60  double _pitch = 0.1);
61 
62  virtual ~ScrewJointUniqueProperties() = default;
63 };
64 
65 //==============================================================================
66 struct ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
68 {
70 
72  const GenericJoint<math::R1Space>::Properties& genericJointProperties
74  const ScrewJointUniqueProperties& screwProperties
76 
77  virtual ~ScrewJointProperties() = default;
78 };
79 
80 //==============================================================================
82  ScrewJoint,
85 
86 } // namespace detail
87 } // namespace dynamics
88 } // namespace dart
89 
90 #endif // DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:155
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:240
Definition: GenericJoint.hpp:48
class ScrewJoint
Definition: ScrewJoint.hpp:43
Definition: BulletCollisionDetector.cpp:65
Definition: GenericJointAspect.hpp:191
Definition: ScrewJointAspect.hpp:68
ScrewJointProperties(const GenericJoint< math::R1Space >::Properties &genericJointProperties=GenericJoint< math::R1Space >::Properties(), const ScrewJointUniqueProperties &screwProperties=ScrewJointUniqueProperties())
Definition: ScrewJointAspect.cpp:48
Definition: ScrewJointAspect.hpp:51
double mPitch
Translational pitch.
Definition: ScrewJointAspect.hpp:56
Eigen::Vector3d mAxis
Rotational axis.
Definition: ScrewJointAspect.hpp:53
ScrewJointUniqueProperties(const Eigen::Vector3d &_axis=Eigen::Vector3d::UnitZ(), double _pitch=0.1)
Definition: ScrewJointAspect.cpp:40