DART  6.7.3
EndEffectorAspect.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
35 
36 #include <Eigen/Geometry>
39 
40 namespace dart {
41 namespace dynamics {
42 
43 class FixedJacobianNode;
44 class Support;
45 
46 namespace detail {
47 
48 //==============================================================================
50 {
54  Eigen::Isometry3d mDefaultTransform;
55 
57  const Eigen::Isometry3d& defaultTf = Eigen::Isometry3d::Identity());
58 
59  // To get byte-aligned Eigen vectors
60  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
61 };
62 
63 //==============================================================================
65 {
68  bool mActive;
69 
70  inline SupportStateData(bool active = false) : mActive(active) { }
71 
72  // To get byte-aligned Eigen vectors
73  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 };
75 
76 //==============================================================================
78 {
83 
85  const math::SupportGeometry& geometry = math::SupportGeometry())
86  : mGeometry(geometry) { }
87 
88  // To get byte-aligned Eigen vectors
89  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
90 };
91 
92 void SupportUpdate(Support* support);
93 
98  >
99 >;
100 
101 } // namespace detail
102 } // namespace dynamics
103 } // namespace dart
104 
105 #endif // DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
Declaration of the variadic template.
Definition: SpecializedForAspect.hpp:46
Definition: CompositeNode.hpp:100
Definition: FixedJacobianNode.hpp:44
Definition: EndEffector.hpp:58
void SupportUpdate(Support *support)
Definition: EndEffector.cpp:50
std::vector< Eigen::Vector3d > SupportGeometry
Definition: Geometry.hpp:496
Definition: BulletCollisionDetector.cpp:63
Definition: EndEffectorAspect.hpp:50
Eigen::Isometry3d mDefaultTransform
The default relative transform for the EndEffector.
Definition: EndEffectorAspect.hpp:54
EndEffectorProperties(const Eigen::Isometry3d &defaultTf=Eigen::Isometry3d::Identity())
Definition: EndEffector.cpp:43
Definition: EndEffectorAspect.hpp:78
math::SupportGeometry mGeometry
A set of points representing the support polygon that can be provided by the EndEffector.
Definition: EndEffectorAspect.hpp:82
SupportPropertiesData(const math::SupportGeometry &geometry=math::SupportGeometry())
Definition: EndEffectorAspect.hpp:84
Definition: EndEffectorAspect.hpp:65
bool mActive
Whether or not this EndEffector is currently being used to support the weight of the robot.
Definition: EndEffectorAspect.hpp:68
SupportStateData(bool active=false)
Definition: EndEffectorAspect.hpp:70