33 #ifndef DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
38 #include <Eigen/Dense>
46 class TranslationalJoint2D;
62 const Eigen::Matrix<double, 3, 2>& transAxes);
67 const Eigen::Vector3d& transAxis1,
const Eigen::Vector3d& transAxis2);
93 const Eigen::Vector3d& transAxis1,
const Eigen::Vector3d& transAxis2);
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:155
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:240
Definition: GenericJoint.hpp:48
TranslationalJoint2D represents a 2-dof joint, which has two orthogonal translational axes.
Definition: TranslationalJoint2D.hpp:48
Definition: TranslationalJoint2DAspect.hpp:52
const Eigen::Matrix< double, 3, 2 > & getTranslationalAxes() const
Returns first and second translational axes.
Definition: TranslationalJoint2DAspect.cpp:186
Eigen::Matrix< double, 3, 2 > mTransAxes
First and second translational axes.
Definition: TranslationalJoint2DAspect.hpp:112
void setArbitraryPlane(const Eigen::Matrix< double, 3, 2 > &transAxes)
Sets plane type as arbitrary plane with two orthogonal translational axes.
Definition: TranslationalJoint2DAspect.cpp:146
void setYZPlane()
Sets plane type as YZ-plane.
Definition: TranslationalJoint2DAspect.cpp:130
void setZXPlane()
Sets plane type as ZX-plane.
Definition: TranslationalJoint2DAspect.cpp:138
PlaneType getPlaneType() const
Returns plane type.
Definition: TranslationalJoint2DAspect.cpp:206
Eigen::Vector3d getTranslationalAxis1() const
Returns first translational axis.
Definition: TranslationalJoint2DAspect.cpp:192
Eigen::Vector3d getTranslationalAxis2() const
Returns second translational axis.
Definition: TranslationalJoint2DAspect.cpp:199
TranslationalJoint2DUniqueProperties & operator=(const TranslationalJoint2DUniqueProperties &other)
Assignment operator.
Definition: TranslationalJoint2DAspect.cpp:97
virtual ~TranslationalJoint2DUniqueProperties()=default
void setXYPlane()
Sets plane type as XY-plane.
Definition: TranslationalJoint2DAspect.cpp:122
PlaneType mPlaneType
Plane type.
Definition: TranslationalJoint2DAspect.hpp:109
TranslationalJoint2DUniqueProperties(PlaneType planeType=PlaneType::XY)
Constructor for pre-defined plane types.
Definition: TranslationalJoint2DAspect.cpp:40
PlaneType
Plane type.
Definition: PlanarJointAspect.hpp:50
Definition: BulletCollisionDetector.cpp:65
Definition: GenericJointAspect.hpp:191
Definition: TranslationalJoint2DAspect.hpp:118
virtual ~TranslationalJoint2DProperties()=default
TranslationalJoint2DProperties(const GenericJoint< math::R2Space >::Properties &genericJointProperties=GenericJoint< math::R2Space >::Properties(), const TranslationalJoint2DUniqueProperties &universalProperties=TranslationalJoint2DUniqueProperties())
Definition: TranslationalJoint2DAspect.cpp:212