FixedFrame.hpp

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#ifndef DART_DYNAMICS_FIXEDFRAME_HPP_
#define DART_DYNAMICS_FIXEDFRAME_HPP_
 
#include "dart/dynamics/Frame.hpp"
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/VersionCounter.hpp"
#include "dart/dynamics/detail/FixedFrameAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class FixedFrame :
    public virtual Frame,
    public virtual common::VersionCounter,
    public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
{
public:
  explicit FixedFrame(Frame* refFrame,
      const Eigen::Isometry3d& relativeTransform =
          Eigen::Isometry3d::Identity());
 
  virtual ~FixedFrame();
 
  void setAspectProperties(const AspectProperties& properties);
 
  virtual void setRelativeTransform(const Eigen::Isometry3d& transform);
 
  // Documentation inherited
  const Eigen::Isometry3d& getRelativeTransform() const override;
 
  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;
 
  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;
 
  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;
 
  const Eigen::Vector6d& getPartialAcceleration() const override;
 
protected:
 
  FixedFrame();
 
  explicit FixedFrame(ConstructAbstractTag);
 
  static const Eigen::Vector6d mZero;
 
public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace dynamics
} // namespace dart
 
 
#endif // DART_DYNAMICS_FIXEDFRAME_HPP_