JointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace dart {
namespace dynamics {
namespace detail {
 
enum ActuatorType
{
  FORCE,
 
  PASSIVE,
 
  SERVO,
 
  MIMIC,
 
  ACCELERATION,
 
  VELOCITY,
 
  LOCKED
};
 
const ActuatorType DefaultActuatorType = FORCE;
 
struct JointProperties
{
  std::string mName;
 
  Eigen::Isometry3d mT_ParentBodyToJoint;
 
  Eigen::Isometry3d mT_ChildBodyToJoint;
 
  bool mIsPositionLimitEnforced;
  // TODO(JS): Rename this to mAreLimitsEnforced
 
  ActuatorType mActuatorType;
 
  const Joint* mMimicJoint;
 
  double mMimicMultiplier, mMimicOffset;
 
  JointProperties(
      const std::string& _name = "Joint",
      const Eigen::Isometry3d& _T_ParentBodyToJoint
      = Eigen::Isometry3d::Identity(),
      const Eigen::Isometry3d& _T_ChildBodyToJoint
      = Eigen::Isometry3d::Identity(),
      bool _isPositionLimitEnforced = false,
      ActuatorType _actuatorType = DefaultActuatorType,
      const Joint* _mimicJoint = nullptr,
      double _mimicMultiplier = 1.0,
      double _mimicOffset = 0.0);
 
  virtual ~JointProperties() = default;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_