DART  6.7.3
dart::dynamics::detail::TranslationalJoint2DUniqueProperties Class Reference

#include <TranslationalJoint2DAspect.hpp>

Inheritance diagram for dart::dynamics::detail::TranslationalJoint2DUniqueProperties:
dart::dynamics::detail::TranslationalJoint2DProperties

Public Member Functions

 TranslationalJoint2DUniqueProperties (PlaneType planeType=PlaneType::XY)
 Constructor for pre-defined plane types. More...
 
 TranslationalJoint2DUniqueProperties (const Eigen::Matrix< double, 3, 2 > &transAxes)
 Constructor for arbitrary plane types. More...
 
 TranslationalJoint2DUniqueProperties (const Eigen::Vector3d &transAxis1, const Eigen::Vector3d &transAxis2)
 Constructor for arbitrary plane types. More...
 
 TranslationalJoint2DUniqueProperties (const TranslationalJoint2DUniqueProperties &other)
 Copy-constructor, customized for robustness. More...
 
virtual ~TranslationalJoint2DUniqueProperties ()=default
 
void setXYPlane ()
 Sets plane type as XY-plane. More...
 
void setYZPlane ()
 Sets plane type as YZ-plane. More...
 
void setZXPlane ()
 Sets plane type as ZX-plane. More...
 
void setArbitraryPlane (const Eigen::Matrix< double, 3, 2 > &transAxes)
 Sets plane type as arbitrary plane with two orthogonal translational axes. More...
 
void setArbitraryPlane (const Eigen::Vector3d &transAxis1, const Eigen::Vector3d &transAxis2)
 Sets plane type as arbitrary plane with two orthogonal translational axes. More...
 
const Eigen::Matrix< double, 3, 2 > & getTranslationalAxes () const
 Returns first and second translational axes. More...
 
Eigen::Vector3d getTranslationalAxis1 () const
 Returns first translational axis. More...
 
Eigen::Vector3d getTranslationalAxis2 () const
 Returns second translational axis. More...
 
PlaneType getPlaneType () const
 Returns plane type. More...
 

Private Attributes

PlaneType mPlaneType
 Plane type. More...
 
Eigen::Matrix< double, 3, 2 > mTransAxes
 First and second translational axes. More...
 

Constructor & Destructor Documentation

◆ TranslationalJoint2DUniqueProperties() [1/4]

dart::dynamics::detail::TranslationalJoint2DUniqueProperties::TranslationalJoint2DUniqueProperties ( PlaneType  planeType = PlaneType::XY)
explicit

Constructor for pre-defined plane types.

Defaults to the XY plane if PlaneType::ARBITRARY is specified.

◆ TranslationalJoint2DUniqueProperties() [2/4]

dart::dynamics::detail::TranslationalJoint2DUniqueProperties::TranslationalJoint2DUniqueProperties ( const Eigen::Matrix< double, 3, 2 > &  transAxes)
explicit

Constructor for arbitrary plane types.

mPlaneType will be set to PlaneType::ARBITRARY

◆ TranslationalJoint2DUniqueProperties() [3/4]

dart::dynamics::detail::TranslationalJoint2DUniqueProperties::TranslationalJoint2DUniqueProperties ( const Eigen::Vector3d &  transAxis1,
const Eigen::Vector3d &  transAxis2 
)

Constructor for arbitrary plane types.

mPlaneType will be set to PlaneType::ARBITRARY

◆ TranslationalJoint2DUniqueProperties() [4/4]

dart::dynamics::detail::TranslationalJoint2DUniqueProperties::TranslationalJoint2DUniqueProperties ( const TranslationalJoint2DUniqueProperties other)

Copy-constructor, customized for robustness.

◆ ~TranslationalJoint2DUniqueProperties()

virtual dart::dynamics::detail::TranslationalJoint2DUniqueProperties::~TranslationalJoint2DUniqueProperties ( )
virtualdefault

Member Function Documentation

◆ getPlaneType()

PlaneType dart::dynamics::detail::TranslationalJoint2DUniqueProperties::getPlaneType ( ) const

Returns plane type.

◆ getTranslationalAxes()

const Eigen::Matrix< double, 3, 2 > & dart::dynamics::detail::TranslationalJoint2DUniqueProperties::getTranslationalAxes ( ) const

Returns first and second translational axes.

◆ getTranslationalAxis1()

Eigen::Vector3d dart::dynamics::detail::TranslationalJoint2DUniqueProperties::getTranslationalAxis1 ( ) const

Returns first translational axis.

◆ getTranslationalAxis2()

Eigen::Vector3d dart::dynamics::detail::TranslationalJoint2DUniqueProperties::getTranslationalAxis2 ( ) const

Returns second translational axis.

◆ setArbitraryPlane() [1/2]

void dart::dynamics::detail::TranslationalJoint2DUniqueProperties::setArbitraryPlane ( const Eigen::Matrix< double, 3, 2 > &  transAxes)

Sets plane type as arbitrary plane with two orthogonal translational axes.

◆ setArbitraryPlane() [2/2]

void dart::dynamics::detail::TranslationalJoint2DUniqueProperties::setArbitraryPlane ( const Eigen::Vector3d &  transAxis1,
const Eigen::Vector3d &  transAxis2 
)

Sets plane type as arbitrary plane with two orthogonal translational axes.

◆ setXYPlane()

void dart::dynamics::detail::TranslationalJoint2DUniqueProperties::setXYPlane ( )

Sets plane type as XY-plane.

◆ setYZPlane()

void dart::dynamics::detail::TranslationalJoint2DUniqueProperties::setYZPlane ( )

Sets plane type as YZ-plane.

◆ setZXPlane()

void dart::dynamics::detail::TranslationalJoint2DUniqueProperties::setZXPlane ( )

Sets plane type as ZX-plane.

Member Data Documentation

◆ mPlaneType

PlaneType dart::dynamics::detail::TranslationalJoint2DUniqueProperties::mPlaneType
private

Plane type.

◆ mTransAxes

Eigen::Matrix<double, 3, 2> dart::dynamics::detail::TranslationalJoint2DUniqueProperties::mTransAxes
private

First and second translational axes.