DART  6.10.1
PlanarJointAspect.hpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
3  * All rights reserved.
4  *
5  * The list of contributors can be found at:
6  * https://github.com/dartsim/dart/blob/master/LICENSE
7  *
8  * This file is provided under the following "BSD-style" License:
9  * Redistribution and use in source and binary forms, with or
10  * without modification, are permitted provided that the following
11  * conditions are met:
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19  * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20  * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26  * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27  * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30  * POSSIBILITY OF SUCH DAMAGE.
31  */
32 
33 #ifndef DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
35 
36 #include <string>
37 
39 
40 namespace dart {
41 namespace dynamics {
42 
43 class PlanarJoint;
44 
45 namespace detail {
46 
47 //==============================================================================
49 enum class PlaneType : int
50 {
51  XY,
52  YZ,
53  ZX,
54  ARBITRARY
55 };
56 
57 //==============================================================================
66 {
69 
71  Eigen::Vector3d mTransAxis1;
72 
74  Eigen::Vector3d mTransAxis2;
75 
77  Eigen::Vector3d mRotAxis;
78 
82 
86  const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2);
87 
90 
91  virtual ~PlanarJointUniqueProperties() = default;
92 
95  const PlanarJointUniqueProperties& other);
96 
98  void setXYPlane();
99 
101  void setYZPlane();
102 
104  void setZXPlane();
105 
107  void setArbitraryPlane(
108  const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2);
109 };
110 
111 //==============================================================================
112 struct PlanarJointProperties : GenericJoint<math::R3Space>::Properties,
114 {
116 
118  const GenericJoint<math::R3Space>::Properties& genericJointProperties
120  const PlanarJointUniqueProperties& planarProperties
122 
123  virtual ~PlanarJointProperties() = default;
124 };
125 
126 //==============================================================================
128  PlanarJoint,
131 
132 } // namespace detail
133 } // namespace dynamics
134 } // namespace dart
135 
136 #endif // DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
#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
PlanarJoint represents a 3-dof joint, which has two orthogonal translational axes and one rotational ...
Definition: PlanarJoint.hpp:48
PlaneType
Plane type.
Definition: PlanarJointAspect.hpp:50
Definition: BulletCollisionDetector.cpp:65
Definition: PlanarJointAspect.hpp:114
PlanarJointProperties(const GenericJoint< math::R3Space >::Properties &genericJointProperties=GenericJoint< math::R3Space >::Properties(), const PlanarJointUniqueProperties &planarProperties=PlanarJointUniqueProperties())
Definition: PlanarJointAspect.cpp:164
Properties that are unique to PlanarJoints.
Definition: PlanarJointAspect.hpp:66
void setXYPlane()
Set plane type as XY-plane.
Definition: PlanarJointAspect.cpp:114
PlanarJointUniqueProperties(PlaneType _planeType=PlaneType::XY)
Constructor for pre-defined plane types.
Definition: PlanarJointAspect.cpp:40
PlanarJointUniqueProperties & operator=(const PlanarJointUniqueProperties &other)
Assignment operator.
Definition: PlanarJointAspect.cpp:88
void setArbitraryPlane(const Eigen::Vector3d &_transAxis1, const Eigen::Vector3d &_transAxis2)
Set plane type as arbitrary plane with two orthogonal translational axes.
Definition: PlanarJointAspect.cpp:141
PlaneType mPlaneType
Plane type.
Definition: PlanarJointAspect.hpp:68
void setZXPlane()
Set plane type as ZX-plane.
Definition: PlanarJointAspect.cpp:132
Eigen::Vector3d mTransAxis2
Second translational axis.
Definition: PlanarJointAspect.hpp:74
void setYZPlane()
Set plane type as YZ-plane.
Definition: PlanarJointAspect.cpp:123
Eigen::Vector3d mRotAxis
Rotational axis.
Definition: PlanarJointAspect.hpp:77
Eigen::Vector3d mTransAxis1
First translational axis.
Definition: PlanarJointAspect.hpp:71