EulerJoint.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_DYNAMICS_EULERJOINT_HPP_
#define DART_DYNAMICS_EULERJOINT_HPP_
 
#include "dart/dynamics/detail/EulerJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class EulerJoint : public detail::EulerJointBase
{
public:
  friend class Skeleton;
  using AxisOrder = detail::AxisOrder;
  using UniqueProperties = detail::EulerJointUniqueProperties;
  using Properties = detail::EulerJointProperties;
  using Base = detail::EulerJointBase;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, EulerJointAspect)
 
  EulerJoint(const EulerJoint&) = delete;
 
  virtual ~EulerJoint();
 
  void setProperties(const Properties& _properties);
 
  void setProperties(const UniqueProperties& _properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getEulerJointProperties() const;
 
  void copy(const EulerJoint& _otherJoint);
 
  void copy(const EulerJoint* _otherJoint);
 
  EulerJoint& operator=(const EulerJoint& _otherJoint);
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;
 
  void setAxisOrder(AxisOrder _order, bool _renameDofs = true);
 
  AxisOrder getAxisOrder() const;
 
  template <typename RotationType>
  static Eigen::Vector3d convertToPositions(
      const RotationType& _rotation, AxisOrder _ordering)
  {
    switch (_ordering)
    {
      case AxisOrder::XYZ:
        return math::matrixToEulerXYZ(_rotation);
      case AxisOrder::ZYX:
        return math::matrixToEulerZYX(_rotation);
      default:
        dtwarn << "[EulerJoint::convertToPositions] Unsupported AxisOrder ("
               << static_cast<int>(_ordering) << "), returning a zero vector\n";
        return Eigen::Vector3d::Zero();
    }
  }
 
  template <typename RotationType>
  Eigen::Vector3d convertToPositions(const RotationType& _rotation) const
  {
    return convertToPositions(_rotation, getAxisOrder());
  }
 
  static Eigen::Isometry3d convertToTransform(
      const Eigen::Vector3d& _positions, AxisOrder _ordering);
 
  Eigen::Isometry3d convertToTransform(const Eigen::Vector3d& _positions) const;
 
  static Eigen::Matrix3d convertToRotation(
      const Eigen::Vector3d& _positions, AxisOrder _ordering);
 
  Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions) const;
 
  // Documentation inherited
  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;
 
protected:
  EulerJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using Base::getRelativeJacobianStatic;
 
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool = true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_EULERJOINT_HPP_