RevoluteJointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_
 
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class RevoluteJoint;
 
namespace detail {
 
//==============================================================================
struct RevoluteJointUniqueProperties
{
  Eigen::Vector3d mAxis;
 
  RevoluteJointUniqueProperties(
      const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ());
 
  virtual ~RevoluteJointUniqueProperties() = default;
};
 
//==============================================================================
struct RevoluteJointProperties : GenericJoint<math::R1Space>::Properties,
                                 RevoluteJointUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(RevoluteJointProperties)
 
  RevoluteJointProperties(
      const GenericJoint<math::R1Space>::Properties& genericJointProperties
      = GenericJoint<math::R1Space>::Properties(),
      const RevoluteJointUniqueProperties& revoluteProperties
      = RevoluteJointUniqueProperties());
 
  virtual ~RevoluteJointProperties() = default;
};
 
//==============================================================================
using RevoluteJointBase = common::EmbedPropertiesOnTopOf<
    RevoluteJoint,
    RevoluteJointUniqueProperties,
    GenericJoint<math::R1Space> >;
 
} // namespace detail
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_