DART  6.7.3
TranslationalJoint.hpp
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32 
33 #ifndef DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
34 #define DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
35 
36 #include <string>
37 
39 
40 namespace dart {
41 namespace dynamics {
42 
44 class TranslationalJoint : public GenericJoint<math::R3Space>
45 {
46 public:
47 
48  friend class Skeleton;
49 
51 
53  {
55 
56  Properties(const Base::Properties& _properties =
58 
59  virtual ~Properties() = default;
60  };
61 
63 
65  virtual ~TranslationalJoint();
66 
69 
70  // Documentation inherited
71  const std::string& getType() const override;
72 
74  static const std::string& getStaticType();
75 
76  // Documentation inherited
77  bool isCyclic(std::size_t _index) const override;
78 
79  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
80  const Eigen::Vector3d& _positions) const override;
81 
82 protected:
83 
86 
87  // Documentation inherited
88  Joint* clone() const override;
89 
91 
92  // Documentation inherited
93  void updateDegreeOfFreedomNames() override;
94 
95  // Documentation inherited
96  void updateRelativeTransform() const override;
97 
98  // Documentation inherited
99  void updateRelativeJacobian(bool _mandatory = true) const override;
100 
101  // Documentation inherited
102  void updateRelativeJacobianTimeDeriv() const override;
103 };
104 
105 } // namespace dynamics
106 } // namespace dart
107 
108 #endif // DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
109 
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:148
BodyPropPtr properties
Definition: SdfParser.cpp:80
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
Definition: GenericJoint.hpp:49
const GenericJoint< math::R3Space >::JacobianMatrix & getRelativeJacobianStatic() const
Fixed-size version of getRelativeJacobian()
Definition: GenericJoint.hpp:1588
detail::GenericJointProperties< math::R3Space > Properties
Definition: GenericJoint.hpp:64
class Joint
Definition: Joint.hpp:59
class Skeleton
Definition: Skeleton.hpp:59
class TranslationalJoint
Definition: TranslationalJoint.hpp:45
Properties getTranslationalJointProperties() const
Get the Properties of this TranslationalJoint.
Definition: TranslationalJoint.cpp:67
Joint * clone() const override
Definition: TranslationalJoint.cpp:83
bool isCyclic(std::size_t _index) const override
Definition: TranslationalJoint.cpp:102
virtual ~TranslationalJoint()
Destructor.
Definition: TranslationalJoint.cpp:52
void updateRelativeJacobian(bool _mandatory=true) const override
Definition: TranslationalJoint.cpp:130
void updateDegreeOfFreedomNames() override
Definition: TranslationalJoint.cpp:108
void updateRelativeJacobianTimeDeriv() const override
Definition: TranslationalJoint.cpp:143
TranslationalJoint(const TranslationalJoint &)=delete
static const std::string & getStaticType()
Get joint type for this class.
Definition: TranslationalJoint.cpp:95
void updateRelativeTransform() const override
Definition: TranslationalJoint.cpp:119
const std::string & getType() const override
Definition: TranslationalJoint.cpp:89
Definition: BulletCollisionDetector.cpp:63
Definition: TranslationalJoint.hpp:53
Properties(const Base::Properties &_properties=Base::Properties())
Definition: TranslationalJoint.cpp:44