DART  6.10.1
EndEffectorAspect.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
35 
36 #include <Eigen/Geometry>
39 
40 namespace dart {
41 namespace dynamics {
42 
43 class FixedJacobianNode;
44 class Support;
45 
46 namespace detail {
47 
48 //==============================================================================
50 {
54  Eigen::Isometry3d mDefaultTransform;
55 
57  const Eigen::Isometry3d& defaultTf = Eigen::Isometry3d::Identity());
58 
59  // To get byte-aligned Eigen vectors
60  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 };
62 
63 //==============================================================================
65 {
68  bool mActive;
69 
70  inline SupportStateData(bool active = false) : mActive(active)
71  {
72  }
73 
74  // To get byte-aligned Eigen vectors
75  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76 };
77 
78 //==============================================================================
80 {
85 
87  const math::SupportGeometry& geometry = math::SupportGeometry())
88  : mGeometry(geometry)
89  {
90  }
91 
92  // To get byte-aligned Eigen vectors
93  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
94 };
95 
96 void SupportUpdate(Support* support);
97 
101 
102 } // namespace detail
103 } // namespace dynamics
104 } // namespace dart
105 
106 #endif // DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
Declaration of the variadic template.
Definition: SpecializedForAspect.hpp:46
Definition: CompositeNode.hpp:96
Definition: FixedJacobianNode.hpp:43
Definition: EndEffector.hpp:57
void SupportUpdate(Support *support)
Definition: EndEffector.cpp:50
std::vector< Eigen::Vector3d > SupportGeometry
Definition: Geometry.hpp:504
Definition: BulletCollisionDetector.cpp:65
Definition: EndEffectorAspect.hpp:50
Eigen::Isometry3d mDefaultTransform
The default relative transform for the EndEffector.
Definition: EndEffectorAspect.hpp:54
EndEffectorProperties(const Eigen::Isometry3d &defaultTf=Eigen::Isometry3d::Identity())
Definition: EndEffector.cpp:43
Definition: EndEffectorAspect.hpp:80
math::SupportGeometry mGeometry
A set of points representing the support polygon that can be provided by the EndEffector.
Definition: EndEffectorAspect.hpp:84
SupportPropertiesData(const math::SupportGeometry &geometry=math::SupportGeometry())
Definition: EndEffectorAspect.hpp:86
Definition: EndEffectorAspect.hpp:65
bool mActive
Whether or not this EndEffector is currently being used to support the weight of the robot.
Definition: EndEffectorAspect.hpp:68
SupportStateData(bool active=false)
Definition: EndEffectorAspect.hpp:70