UniversalJointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
 
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class UniversalJoint;
 
namespace detail {
 
//==============================================================================
struct UniversalJointUniqueProperties
{
  std::array<Eigen::Vector3d, 2> mAxis;
 
  UniversalJointUniqueProperties(
      const Eigen::Vector3d& _axis1 = Eigen::Vector3d::UnitX(),
      const Eigen::Vector3d& _axis2 = Eigen::Vector3d::UnitY());
 
  virtual ~UniversalJointUniqueProperties() = default;
};
 
//==============================================================================
struct UniversalJointProperties : GenericJoint<math::R2Space>::Properties,
                                  UniversalJointUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(UniversalJointProperties)
 
  UniversalJointProperties(
      const GenericJoint<math::R2Space>::Properties& genericJointProperties
      = GenericJoint<math::R2Space>::Properties(),
      const UniversalJointUniqueProperties& universalProperties
      = UniversalJointUniqueProperties());
 
  virtual ~UniversalJointProperties() = default;
};
 
//==============================================================================
using UniversalJointBase = common::EmbedPropertiesOnTopOf<
    UniversalJoint,
    UniversalJointUniqueProperties,
    GenericJoint<math::R2Space> >;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_