PlanarJointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
 
#include <string>
 
#include "dart/dynamics/GenericJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class PlanarJoint;
 
namespace detail {
 
//==============================================================================
enum class PlaneType : int
{
  XY,
  YZ,
  ZX,
  ARBITRARY
};
 
//==============================================================================
struct PlanarJointUniqueProperties
{
  PlaneType mPlaneType;
 
  Eigen::Vector3d mTransAxis1;
 
  Eigen::Vector3d mTransAxis2;
 
  Eigen::Vector3d mRotAxis;
 
  PlanarJointUniqueProperties(PlaneType _planeType = PlaneType::XY);
 
  PlanarJointUniqueProperties(const Eigen::Vector3d& _transAxis1,
                   const Eigen::Vector3d& _transAxis2);
 
  PlanarJointUniqueProperties(const PlanarJointUniqueProperties& other);
 
  virtual ~PlanarJointUniqueProperties() = default;
 
  void setXYPlane();
 
  void setYZPlane();
 
  void setZXPlane();
 
  void setArbitraryPlane(const Eigen::Vector3d& _transAxis1,
                         const Eigen::Vector3d& _transAxis2);
};
 
//==============================================================================
struct PlanarJointProperties :
    GenericJoint<math::R3Space>::Properties,
    PlanarJointUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(PlanarJointProperties)
 
  PlanarJointProperties(
      const GenericJoint<math::R3Space>::Properties& genericJointProperties =
          GenericJoint<math::R3Space>::Properties(),
      const PlanarJointUniqueProperties& planarProperties =
          PlanarJointUniqueProperties());
 
  virtual ~PlanarJointProperties() = default;
};
 
//==============================================================================
using PlanarJointBase = common::EmbedPropertiesOnTopOf<
    PlanarJoint, PlanarJointUniqueProperties, GenericJoint<math::R3Space> >;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_