DART  6.6.2
TranslationalJoint2DAspect.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
35 
36 #include <string>
37 
38 #include <Eigen/Dense>
39 
42 
43 namespace dart {
44 namespace dynamics {
45 
46 class TranslationalJoint2D;
47 
48 namespace detail {
49 
50 //==============================================================================
52 {
53 public:
57  PlaneType planeType = PlaneType::XY);
58 
62  const Eigen::Matrix<double, 3, 2>& transAxes);
63 
67  const Eigen::Vector3d& transAxis1, const Eigen::Vector3d& transAxis2);
68 
72 
74 
76  void setXYPlane();
77 
79  void setYZPlane();
80 
82  void setZXPlane();
83 
85  void setArbitraryPlane(const Eigen::Matrix<double, 3, 2>& transAxes);
86 
88  void setArbitraryPlane(
89  const Eigen::Vector3d& transAxis1, const Eigen::Vector3d& transAxis2);
90 
92  const Eigen::Matrix<double, 3, 2>& getTranslationalAxes() const;
93 
95  Eigen::Vector3d getTranslationalAxis1() const;
96 
98  Eigen::Vector3d getTranslationalAxis2() const;
99 
101  PlaneType getPlaneType() const;
102 
103 private:
106 
108  Eigen::Matrix<double, 3, 2> mTransAxes;
109 };
110 
111 //==============================================================================
112 struct TranslationalJoint2DProperties : GenericJoint<math::R2Space>::Properties,
114 {
116 
118  const GenericJoint<math::R2Space>::Properties& genericJointProperties
120  const TranslationalJoint2DUniqueProperties& universalProperties
122 
123  virtual ~TranslationalJoint2DProperties() = default;
124 };
125 
126 //==============================================================================
131 
132 } // namespace detail
133 } // namespace dynamics
134 } // namespace dart
135 
136 #endif // DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:148
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:248
Definition: GenericJoint.hpp:49
TranslationalJoint2D represents a 2-dof joint, which has two orthogonal translational axes.
Definition: TranslationalJoint2D.hpp:48
Definition: TranslationalJoint2DAspect.hpp:52
const Eigen::Matrix< double, 3, 2 > & getTranslationalAxes() const
Returns first and second translational axes.
Definition: TranslationalJoint2DAspect.cpp:160
Eigen::Matrix< double, 3, 2 > mTransAxes
First and second translational axes.
Definition: TranslationalJoint2DAspect.hpp:108
void setArbitraryPlane(const Eigen::Matrix< double, 3, 2 > &transAxes)
Sets plane type as arbitrary plane with two orthogonal translational axes.
Definition: TranslationalJoint2DAspect.cpp:120
void setYZPlane()
Sets plane type as YZ-plane.
Definition: TranslationalJoint2DAspect.cpp:104
void setZXPlane()
Sets plane type as ZX-plane.
Definition: TranslationalJoint2DAspect.cpp:112
PlaneType getPlaneType() const
Returns plane type.
Definition: TranslationalJoint2DAspect.cpp:180
Eigen::Vector3d getTranslationalAxis1() const
Returns first translational axis.
Definition: TranslationalJoint2DAspect.cpp:166
Eigen::Vector3d getTranslationalAxis2() const
Returns second translational axis.
Definition: TranslationalJoint2DAspect.cpp:173
void setXYPlane()
Sets plane type as XY-plane.
Definition: TranslationalJoint2DAspect.cpp:96
PlaneType mPlaneType
Plane type.
Definition: TranslationalJoint2DAspect.hpp:105
TranslationalJoint2DUniqueProperties(PlaneType planeType=PlaneType::XY)
Constructor for pre-defined plane types.
Definition: TranslationalJoint2DAspect.cpp:40
PlaneType
Plane type.
Definition: PlanarJointAspect.hpp:50
Definition: BulletCollisionDetector.cpp:63
Definition: GenericJointAspect.hpp:178
Definition: TranslationalJoint2DAspect.hpp:114
TranslationalJoint2DProperties(const GenericJoint< math::R2Space >::Properties &genericJointProperties=GenericJoint< math::R2Space >::Properties(), const TranslationalJoint2DUniqueProperties &universalProperties=TranslationalJoint2DUniqueProperties())
Definition: TranslationalJoint2DAspect.cpp:186