PlanarJoint.hpp

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#ifndef DART_DYNAMICS_PLANARRJOINT_HPP_
#define DART_DYNAMICS_PLANARRJOINT_HPP_
 
#include "dart/dynamics/detail/PlanarJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class PlanarJoint : public detail::PlanarJointBase
{
public:
  friend class Skeleton;
  using PlaneType = detail::PlaneType;
  using UniqueProperties = detail::PlanarJointUniqueProperties;
  using Properties = detail::PlanarJointProperties;
  using Base = GenericJoint<math::R3Space>;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, PlanarJointAspect)
 
  PlanarJoint(const PlanarJoint&) = delete;
 
  virtual ~PlanarJoint();
 
  void setProperties(const Properties& _properties);
 
  void setProperties(const UniqueProperties& _properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getPlanarJointProperties() const;
 
  void copy(const PlanarJoint& _otherJoint);
 
  void copy(const PlanarJoint* _otherJoint);
 
  PlanarJoint& operator=(const PlanarJoint& _otherJoint);
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;
 
  void setXYPlane(bool _renameDofs = true);
 
  void setYZPlane(bool _renameDofs = true);
 
  void setZXPlane(bool _renameDofs = true);
 
  void setArbitraryPlane(
      const Eigen::Vector3d& _transAxis1,
      const Eigen::Vector3d& _transAxis2,
      bool _renameDofs = true);
 
  PlaneType getPlaneType() const;
 
  const Eigen::Vector3d& getRotationalAxis() const;
 
  const Eigen::Vector3d& getTranslationalAxis1() const;
 
  const Eigen::Vector3d& getTranslationalAxis2() const;
 
  // Documentation inherited
  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;
 
protected:
  PlanarJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using Base::getRelativeJacobianStatic;
 
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool = true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_PLANARRJOINT_HPP_