DART  6.7.3
UniversalJointAspect.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
35 
36 #include <string>
37 
38 #include <Eigen/Dense>
39 
41 
42 namespace dart {
43 namespace dynamics {
44 
45 class UniversalJoint;
46 
47 namespace detail {
48 
49 //==============================================================================
51 {
52  std::array<Eigen::Vector3d,2> mAxis;
53 
55  const Eigen::Vector3d& _axis1 = Eigen::Vector3d::UnitX(),
56  const Eigen::Vector3d& _axis2 = Eigen::Vector3d::UnitY());
57 
58  virtual ~UniversalJointUniqueProperties() = default;
59 };
60 
61 //==============================================================================
63  GenericJoint<math::R2Space>::Properties,
65 {
67 
69  const GenericJoint<math::R2Space>::Properties& genericJointProperties =
71  const UniversalJointUniqueProperties& universalProperties =
73 
74  virtual ~UniversalJointProperties() = default;
75 };
76 
77 //==============================================================================
80 
81 } // namespace detail
82 } // namespace dynamics
83 } // namespace dart
84 
85 #endif // DART_DYNAMICS_DETAIL_UNIVERSALJOINTASPECT_HPP_
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:148
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:248
Definition: GenericJoint.hpp:49
class UniversalJoint
Definition: UniversalJoint.hpp:43
Definition: BulletCollisionDetector.cpp:63
Definition: GenericJointAspect.hpp:178
Definition: UniversalJointAspect.hpp:65
UniversalJointProperties(const GenericJoint< math::R2Space >::Properties &genericJointProperties=GenericJoint< math::R2Space >::Properties(), const UniversalJointUniqueProperties &universalProperties=UniversalJointUniqueProperties())
Definition: UniversalJointAspect.cpp:48
Definition: UniversalJointAspect.hpp:51
UniversalJointUniqueProperties(const Eigen::Vector3d &_axis1=Eigen::Vector3d::UnitX(), const Eigen::Vector3d &_axis2=Eigen::Vector3d::UnitY())
Definition: UniversalJointAspect.cpp:40
std::array< Eigen::Vector3d, 2 > mAxis
Definition: UniversalJointAspect.hpp:52