FixedFrame.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_FIXEDFRAME_HPP_
#define DART_DYNAMICS_FIXEDFRAME_HPP_
 
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/VersionCounter.hpp"
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/detail/FixedFrameAspect.hpp"
 
namespace dart {
namespace dynamics {
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class FixedFrame
  : public virtual Frame,
    public virtual common::VersionCounter,
    public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
{
public:
  explicit FixedFrame(
      Frame* refFrame,
      const Eigen::Isometry3d& relativeTransform
      = Eigen::Isometry3d::Identity());
 
  virtual ~FixedFrame();
 
  void setAspectProperties(const AspectProperties& properties);
 
  virtual void setRelativeTransform(const Eigen::Isometry3d& transform);
 
  // Documentation inherited
  const Eigen::Isometry3d& getRelativeTransform() const override;
 
  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;
 
  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;
 
  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;
 
  const Eigen::Vector6d& getPartialAcceleration() const override;
 
protected:
  FixedFrame();
 
  explicit FixedFrame(ConstructAbstractTag);
 
  static const Eigen::Vector6d mZero;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_FIXEDFRAME_HPP_