EulerJointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_EULERJOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_EULERJOINTASPECT_HPP_
 
#include <string>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class EulerJoint;
 
namespace detail {
 
//==============================================================================
enum class AxisOrder : int
{
  ZYX = 0,
  XYZ = 1
};
 
//==============================================================================
struct EulerJointUniqueProperties
{
  AxisOrder mAxisOrder;
 
  EulerJointUniqueProperties(AxisOrder _axisOrder = AxisOrder::XYZ);
 
  virtual ~EulerJointUniqueProperties() = default;
};
 
//==============================================================================
struct EulerJointProperties : GenericJoint<math::R3Space>::Properties,
                              EulerJointUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(EulerJointProperties)
 
  
  EulerJointProperties(
      const GenericJoint<math::R3Space>::Properties& genericJointProperties
      = GenericJoint<math::R3Space>::Properties(),
      const EulerJointUniqueProperties& eulerJointProperties
      = EulerJointUniqueProperties());
 
  virtual ~EulerJointProperties() = default;
};
 
//==============================================================================
using EulerJointBase = common::EmbedPropertiesOnTopOf<
    EulerJoint,
    EulerJointUniqueProperties,
    GenericJoint<math::R3Space> >;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_EULERJOINTASPECT_HPP_