TranslationalJoint2DAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
#define DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_
 
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/GenericJoint.hpp"
#include "dart/dynamics/detail/PlanarJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class TranslationalJoint2D;
 
namespace detail {
 
//==============================================================================
class TranslationalJoint2DUniqueProperties
{
public:
  explicit TranslationalJoint2DUniqueProperties(
      PlaneType planeType = PlaneType::XY);
 
  explicit TranslationalJoint2DUniqueProperties(
      const Eigen::Matrix<double, 3, 2>& transAxes);
 
  TranslationalJoint2DUniqueProperties(
      const Eigen::Vector3d& transAxis1, const Eigen::Vector3d& transAxis2);
 
  TranslationalJoint2DUniqueProperties(
      const TranslationalJoint2DUniqueProperties& other);
 
  virtual ~TranslationalJoint2DUniqueProperties() = default;
 
  void setXYPlane();
 
  void setYZPlane();
 
  void setZXPlane();
 
  void setArbitraryPlane(const Eigen::Matrix<double, 3, 2>& transAxes);
 
  void setArbitraryPlane(
      const Eigen::Vector3d& transAxis1, const Eigen::Vector3d& transAxis2);
 
  const Eigen::Matrix<double, 3, 2>& getTranslationalAxes() const;
 
  Eigen::Vector3d getTranslationalAxis1() const;
 
  Eigen::Vector3d getTranslationalAxis2() const;
 
  PlaneType getPlaneType() const;
 
private:
  PlaneType mPlaneType;
 
  Eigen::Matrix<double, 3, 2> mTransAxes;
};
 
//==============================================================================
struct TranslationalJoint2DProperties : GenericJoint<math::R2Space>::Properties,
                                        TranslationalJoint2DUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(TranslationalJoint2DProperties)
 
  TranslationalJoint2DProperties(
      const GenericJoint<math::R2Space>::Properties& genericJointProperties
      = GenericJoint<math::R2Space>::Properties(),
      const TranslationalJoint2DUniqueProperties& universalProperties
      = TranslationalJoint2DUniqueProperties());
 
  virtual ~TranslationalJoint2DProperties() = default;
};
 
//==============================================================================
using TranslationalJoint2DBase
    = common::EmbedPropertiesOnTopOf<TranslationalJoint2D,
                                     TranslationalJoint2DUniqueProperties,
                                     GenericJoint<math::R2Space>>;
 
} // namespace detail
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_TRANSLATIONALJOINT2DASPECT_HPP_