TranslationalJoint2D.hpp

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#ifndef DART_DYNAMICS_TRANSLATIONALJOINT2D_HPP_
#define DART_DYNAMICS_TRANSLATIONALJOINT2D_HPP_
 
#include "dart/dynamics/detail/PlanarJointAspect.hpp"
#include "dart/dynamics/detail/TranslationalJoint2DAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class TranslationalJoint2D : public detail::TranslationalJoint2DBase
{
public:
  friend class Skeleton;
  using PlaneType = detail::PlaneType;
  using UniqueProperties = detail::TranslationalJoint2DUniqueProperties;
  using Properties = detail::TranslationalJoint2DProperties;
  using Base = detail::TranslationalJoint2DBase;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, TranslationalJoint2DAspect)
 
  TranslationalJoint2D(const TranslationalJoint2D&) = delete;
 
  virtual ~TranslationalJoint2D();
 
  void setProperties(const Properties& properties);
 
  void setProperties(const UniqueProperties& properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getTranslationalJoint2DProperties() const;
 
  void copy(const TranslationalJoint2D& otherJoint);
 
  void copy(const TranslationalJoint2D* otherJoint);
 
  TranslationalJoint2D& operator=(const TranslationalJoint2D& 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 setXYPlane(bool renameDofs = true);
 
  void setYZPlane(bool renameDofs = true);
 
  void setZXPlane(bool renameDofs = true);
 
  void setArbitraryPlane(
      const Eigen::Vector3d& transAxis1,
      const Eigen::Vector3d& transAxis2,
      bool renameDofs = true);
 
  PlaneType getPlaneType() const;
 
  Eigen::Vector3d getTranslationalAxis1() const;
 
  Eigen::Vector3d getTranslationalAxis2() const;
 
  // Documentation inherited
  Eigen::Matrix<double, 6, 2> getRelativeJacobianStatic(
      const Eigen::Vector2d& positions) const override;
 
protected:
  explicit TranslationalJoint2D(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using GenericJoint<math::R2Space>::getRelativeJacobianStatic;
 
  // Documentation inherited
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool mandatory = true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_TRANSLATIONALJOINT2D_HPP_