TranslationalJoint.hpp

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#ifndef DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
#define DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
 
#include <string>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class TranslationalJoint : public GenericJoint<math::R3Space>
{
public:
  friend class Skeleton;
 
  using Base = GenericJoint<math::R3Space>;
 
  struct Properties : Base::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
 
    Properties(const Base::Properties& _properties = Base::Properties());
 
    virtual ~Properties() = default;
  };
 
  TranslationalJoint(const TranslationalJoint&) = delete;
 
  virtual ~TranslationalJoint();
 
  Properties getTranslationalJointProperties() const;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;
 
  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;
 
protected:
  TranslationalJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using Base::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_TRANSLATIONALJOINT_HPP_