DART  6.10.1
WeldJoint.hpp
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32 
33 #ifndef DART_DYNAMICS_WELDJOINT_HPP_
34 #define DART_DYNAMICS_WELDJOINT_HPP_
35 
36 #include <string>
37 
38 #include <Eigen/Dense>
39 
41 
42 namespace dart {
43 namespace dynamics {
44 
46 class WeldJoint : public ZeroDofJoint
47 {
48 public:
49  friend class Skeleton;
50 
52  {
54 
55  Properties(const Joint::Properties& _properties = Joint::Properties());
56 
57  virtual ~Properties() = default;
58  };
59 
60  WeldJoint(const WeldJoint&) = delete;
61 
63  virtual ~WeldJoint();
64 
67 
68  // Documentation inherited
69  const std::string& getType() const override;
70 
72  static const std::string& getStaticType();
73 
74  // Documentation inherited
75  bool isCyclic(std::size_t _index) const override;
76 
77  // Documentation inherited
78  void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T) override;
79 
80  // Documentation inherited
81  void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T) override;
82 
83 protected:
86 
87  // Documentation inherited
88  Joint* clone() const override;
89 
90  //----------------------------------------------------------------------------
91  // Recursive algorithms
92  //----------------------------------------------------------------------------
93 
94  // Documentation inherited
95  void updateRelativeTransform() const override;
96 
97  // Documentation inherited
98  void updateRelativeSpatialVelocity() const override;
99 
100  // Documentation inherited
101  void updateRelativeSpatialAcceleration() const override;
102 
103  // Documentation inherited
104  void updateRelativePrimaryAcceleration() const override;
105 
106  // Documentation inherited
107  void updateRelativeJacobian(bool = true) const override;
108 
109  // Documentation inherited
110  void updateRelativeJacobianTimeDeriv() const override;
111 };
112 
113 } // namespace dynamics
114 } // namespace dart
115 
116 #endif // DART_DYNAMICS_WELDJOINT_HPP_
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:155
BodyPropPtr properties
Definition: SdfParser.cpp:80
class Joint
Definition: Joint.hpp:60
class Skeleton
Definition: Skeleton.hpp:59
class WeldJoint
Definition: WeldJoint.hpp:47
void setTransformFromChildBodyNode(const Eigen::Isometry3d &_T) override
Set transformation from child body node to this joint.
Definition: WeldJoint.cpp:91
void updateRelativeSpatialVelocity() const override
Update spatial velocity of the child BodyNode relative to the parent BodyNode expressed in the child ...
Definition: WeldJoint.cpp:120
void updateRelativeJacobian(bool=true) const override
Update spatial Jacobian of the child BodyNode relative to the parent BodyNode expressed in the child ...
Definition: WeldJoint.cpp:140
void updateRelativePrimaryAcceleration() const override
Update J * of this joint.
Definition: WeldJoint.cpp:134
WeldJoint(const WeldJoint &)=delete
const std::string & getType() const override
Gets a string representing the joint type.
Definition: WeldJoint.cpp:57
static const std::string & getStaticType()
Get joint type for this class.
Definition: WeldJoint.cpp:63
virtual ~WeldJoint()
Destructor.
Definition: WeldJoint.cpp:51
bool isCyclic(std::size_t _index) const override
Get whether a generalized coordinate is cyclic.
Definition: WeldJoint.cpp:70
void updateRelativeTransform() const override
Update transform of the child BodyNode relative to the parent BodyNode expressed in the child BodyNod...
Definition: WeldJoint.cpp:114
void updateRelativeJacobianTimeDeriv() const override
Update time derivative of spatial Jacobian of the child BodyNode relative to the parent BodyNode expr...
Definition: WeldJoint.cpp:146
void updateRelativeSpatialAcceleration() const override
Update spatial acceleration of the child BodyNode relative to the parent BodyNode expressed in the ch...
Definition: WeldJoint.cpp:127
void setTransformFromParentBodyNode(const Eigen::Isometry3d &_T) override
Set transformation from parent body node to this joint.
Definition: WeldJoint.cpp:82
Joint * clone() const override
Create a clone of this Joint.
Definition: WeldJoint.cpp:108
Properties getWeldJointProperties() const
Get the Properties of this WeldJoint.
Definition: WeldJoint.cpp:76
class ZeroDofJoint
Definition: ZeroDofJoint.hpp:48
Definition: BulletCollisionDetector.cpp:65
Definition: WeldJoint.hpp:52
Properties(const Joint::Properties &_properties=Joint::Properties())
Definition: WeldJoint.cpp:44
Definition: ZeroDofJoint.hpp:51
Definition: JointAspect.hpp:112