EulerJoint.hpp

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#ifndef DART_DYNAMICS_EULERJOINT_HPP_
#define DART_DYNAMICS_EULERJOINT_HPP_
 
#include "dart/dynamics/detail/EulerJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class EulerJoint : public detail::EulerJointBase
{
public:
 
  friend class Skeleton;
  using AxisOrder = detail::AxisOrder;
  using UniqueProperties = detail::EulerJointUniqueProperties;
  using Properties = detail::EulerJointProperties;
  using Base = detail::EulerJointBase;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, EulerJointAspect)
 
  EulerJoint(const EulerJoint&) = delete;
 
  virtual ~EulerJoint();
 
  void setProperties(const Properties& _properties);
 
  void setProperties(const UniqueProperties& _properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getEulerJointProperties() const;
 
  void copy(const EulerJoint& _otherJoint);
 
  void copy(const EulerJoint* _otherJoint);
 
  EulerJoint& operator=(const EulerJoint& _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 setAxisOrder(AxisOrder _order, bool _renameDofs = true);
 
  AxisOrder getAxisOrder() const;
 
  template <typename RotationType>
  static Eigen::Vector3d convertToPositions(
      const RotationType& _rotation, AxisOrder _ordering)
  {
    switch(_ordering)
    {
      case AxisOrder::XYZ:
        return math::matrixToEulerXYZ(_rotation);
      case AxisOrder::ZYX:
        return math::matrixToEulerZYX(_rotation);
      default:
        dtwarn << "[EulerJoint::convertToPositions] Unsupported AxisOrder ("
               << static_cast<int>(_ordering) << "), returning a zero vector\n";
        return Eigen::Vector3d::Zero();
    }
  }
 
  template <typename RotationType>
  Eigen::Vector3d convertToPositions(const RotationType& _rotation) const
  {
    return convertToPositions(_rotation, getAxisOrder());
  }
 
  static Eigen::Isometry3d convertToTransform(const Eigen::Vector3d& _positions,
                                           AxisOrder _ordering);
 
  Eigen::Isometry3d convertToTransform(const Eigen::Vector3d& _positions) const;
 
  static Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions,
                                           AxisOrder _ordering);
 
  Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions) const;
 
  // Documentation inherited
  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;
 
protected:
 
  EulerJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using Base::getRelativeJacobianStatic;
 
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool =true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_EULERJOINT_HPP_