EndEffectorAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
#define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
 
#include <Eigen/Geometry>
#include "dart/dynamics/CompositeNode.hpp"
#include "dart/common/SpecializedForAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class FixedJacobianNode;
class Support;
 
namespace detail {
 
//==============================================================================
struct EndEffectorProperties
{
  Eigen::Isometry3d mDefaultTransform;
 
  EndEffectorProperties(
      const Eigen::Isometry3d& defaultTf = Eigen::Isometry3d::Identity());
 
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
//==============================================================================
struct SupportStateData
{
  bool mActive;
 
  inline SupportStateData(bool active = false) : mActive(active) { }
 
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
//==============================================================================
struct SupportPropertiesData
{
  math::SupportGeometry mGeometry;
 
  inline SupportPropertiesData(
      const math::SupportGeometry& geometry = math::SupportGeometry())
    : mGeometry(geometry) { }
 
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
void SupportUpdate(Support* support);
 
using EndEffectorCompositeBase = CompositeNode<
    common::CompositeJoiner<
        FixedJacobianNode,
        common::SpecializedForAspect<Support>
    >
>;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_