ScrewJoint.hpp

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#ifndef DART_DYNAMICS_SCREWJOINT_HPP_
#define DART_DYNAMICS_SCREWJOINT_HPP_
 
#include "dart/dynamics/detail/ScrewJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class ScrewJoint : public detail::ScrewJointBase
{
public:
 
  friend class Skeleton;
  using UniqueProperties = detail::ScrewJointUniqueProperties;
  using Properties = detail::ScrewJointProperties;
  using Base = detail::ScrewJointBase;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, ScrewJointAspect)
 
  ScrewJoint(const ScrewJoint&) = delete;
 
  virtual ~ScrewJoint();
 
  void setProperties(const Properties& _properties);
 
  void setProperties(const UniqueProperties& _properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getScrewJointProperties() const;
 
  void copy(const ScrewJoint& _otherJoint);
 
  void copy(const ScrewJoint* _otherJoint);
 
  ScrewJoint& operator=(const ScrewJoint& _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 setAxis(const Eigen::Vector3d& _axis);
 
  const Eigen::Vector3d& getAxis() const;
 
  void setPitch(double _pitch);
 
  double getPitch() const;
 
  // Documentation inherited
  GenericJoint<math::R1Space>::JacobianMatrix getRelativeJacobianStatic(
      const GenericJoint<math::R1Space>::Vector& positions) const override;
 
protected:
 
  ScrewJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  // Documentation inherited
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool _mandatory=true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_SCREWJOINT_HPP_