ScrewJointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_
 
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class ScrewJoint;
 
namespace detail {
 
//==============================================================================
struct ScrewJointUniqueProperties
{
  Eigen::Vector3d mAxis;
 
  double mPitch;
 
  ScrewJointUniqueProperties(
      const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ(),
      double _pitch = 0.1);
 
  virtual ~ScrewJointUniqueProperties() = default;
};
 
//==============================================================================
struct ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
                    ScrewJointUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(ScrewJointProperties)
 
  ScrewJointProperties(
      const GenericJoint<math::R1Space>::Properties& genericJointProperties =
          GenericJoint<math::R1Space>::Properties(),
      const ScrewJointUniqueProperties& screwProperties =
          ScrewJointUniqueProperties());
 
  virtual ~ScrewJointProperties() = default;
};
 
//==============================================================================
using ScrewJointBase = common::EmbedPropertiesOnTopOf<
    ScrewJoint, ScrewJointUniqueProperties, GenericJoint<math::R1Space> >;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_SCREWJOINTASPECT_HPP_