DART  6.10.1
ScrewJoint.hpp
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32 
33 #ifndef DART_DYNAMICS_SCREWJOINT_HPP_
34 #define DART_DYNAMICS_SCREWJOINT_HPP_
35 
37 
38 namespace dart {
39 namespace dynamics {
40 
43 {
44 public:
45  friend class Skeleton;
49 
51 
52  ScrewJoint(const ScrewJoint&) = delete;
53 
55  virtual ~ScrewJoint();
56 
58  void setProperties(const Properties& _properties);
59 
61  void setProperties(const UniqueProperties& _properties);
62 
65 
68 
70  void copy(const ScrewJoint& _otherJoint);
71 
73  void copy(const ScrewJoint* _otherJoint);
74 
76  ScrewJoint& operator=(const ScrewJoint& _otherJoint);
77 
78  // Documentation inherited
79  const std::string& getType() const override;
80 
82  static const std::string& getStaticType();
83 
84  // Documentation inherited
85  bool isCyclic(std::size_t _index) const override;
86 
88  void setAxis(const Eigen::Vector3d& _axis);
89 
91  const Eigen::Vector3d& getAxis() const;
92 
94  void setPitch(double _pitch);
95 
97  double getPitch() const;
98 
99  // Documentation inherited
100  GenericJoint<math::R1Space>::JacobianMatrix getRelativeJacobianStatic(
101  const GenericJoint<math::R1Space>::Vector& positions) const override;
102 
103 protected:
106 
107  // Documentation inherited
108  Joint* clone() const override;
109 
110  // Documentation inherited
111  void updateDegreeOfFreedomNames() override;
112 
113  // Documentation inherited
114  void updateRelativeTransform() const override;
115 
116  // Documentation inherited
117  void updateRelativeJacobian(bool _mandatory = true) const override;
118 
119  // Documentation inherited
120  void updateRelativeJacobianTimeDeriv() const override;
121 };
122 
123 } // namespace dynamics
124 } // namespace dart
125 
126 #endif // DART_DYNAMICS_SCREWJOINT_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:240
typename Impl::Aspect Aspect
Definition: EmbeddedAspect.hpp:246
typename Impl::AspectProperties AspectProperties
Definition: EmbeddedAspect.hpp:245
Definition: GenericJoint.hpp:48
class Joint
Definition: Joint.hpp:60
class ScrewJoint
Definition: ScrewJoint.hpp:43
const Eigen::Vector3d & getAxis() const
Definition: ScrewJoint.cpp:134
Properties getScrewJointProperties() const
Get the Properties of this ScrewJoint.
Definition: ScrewJoint.cpp:72
void setProperties(const Properties &_properties)
Set the Properties of this ScrewJoint.
Definition: ScrewJoint.cpp:51
GenericJoint< math::R1Space >::JacobianMatrix getRelativeJacobianStatic(const GenericJoint< math::R1Space >::Vector &positions) const override
Definition: ScrewJoint.cpp:159
double getPitch() const
Definition: ScrewJoint.cpp:152
void updateRelativeJacobianTimeDeriv() const override
Definition: ScrewJoint.cpp:223
const std::string & getType() const override
Definition: ScrewJoint.cpp:103
Joint * clone() const override
Definition: ScrewJoint.cpp:188
void updateDegreeOfFreedomNames() override
Definition: ScrewJoint.cpp:194
void copy(const ScrewJoint &_otherJoint)
Copy the Properties of another ScrewJoint.
Definition: ScrewJoint.cpp:78
void updateRelativeTransform() const override
Definition: ScrewJoint.cpp:202
static const std::string & getStaticType()
Get joint type for this class.
Definition: ScrewJoint.cpp:109
bool isCyclic(std::size_t _index) const override
Definition: ScrewJoint.cpp:116
void setAspectProperties(const AspectProperties &properties)
Set the AspectProperties of this ScrewJoint.
Definition: ScrewJoint.cpp:65
void updateRelativeJacobian(bool _mandatory=true) const override
Definition: ScrewJoint.cpp:216
void setPitch(double _pitch)
Definition: ScrewJoint.cpp:140
void setAxis(const Eigen::Vector3d &_axis)
Definition: ScrewJoint.cpp:122
class Skeleton
Definition: Skeleton.hpp:59
#define DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(TypeName, AspectName)
Definition: Composite.hpp:164
Definition: Random-impl.hpp:92
common::EmbedPropertiesOnTopOf< ScrewJoint, ScrewJointUniqueProperties, GenericJoint< math::R1Space > > ScrewJointBase
Definition: ScrewJointAspect.hpp:84
RealVectorSpace< 1u > R1Space
Definition: ConfigurationSpace.hpp:72
Definition: BulletCollisionDetector.cpp:65
Definition: SharedLibraryManager.hpp:46
Definition: ScrewJointAspect.hpp:68
Definition: ScrewJointAspect.hpp:51