UniversalJoint.hpp

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#ifndef DART_DYNAMICS_UNIVERSALJOINT_HPP_
#define DART_DYNAMICS_UNIVERSALJOINT_HPP_
 
#include "dart/dynamics/detail/UniversalJointAspect.hpp"
 
namespace dart {
namespace dynamics {
 
class UniversalJoint : public detail::UniversalJointBase
{
public:
 
  friend class Skeleton;
  using UniqueProperties = detail::UniversalJointUniqueProperties;
  using Properties = detail::UniversalJointProperties;
  using Base = detail::UniversalJointBase;
 
  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, UniversalJointAspect)
 
  UniversalJoint(const UniversalJoint&) = delete;
 
  virtual ~UniversalJoint();
 
  void setProperties(const Properties& _properties);
 
  void setProperties(const UniqueProperties& _properties);
 
  void setAspectProperties(const AspectProperties& properties);
 
  Properties getUniversalJointProperties() const;
 
  void copy(const UniversalJoint& _otherJoint);
 
  void copy(const UniversalJoint* _otherJoint);
 
  UniversalJoint& operator=(const UniversalJoint& _otherJoint);
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;
 
  void setAxis1(const Eigen::Vector3d& _axis);
 
  void setAxis2(const Eigen::Vector3d& _axis);
 
  const Eigen::Vector3d& getAxis1() const;
 
  const Eigen::Vector3d& getAxis2() const;
 
  // Documentation inherited
  Eigen::Matrix<double, 6, 2> getRelativeJacobianStatic(
      const Eigen::Vector2d& _positions) const override;
 
protected:
 
  UniversalJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  using GenericJoint<math::R2Space>::getRelativeJacobianStatic;
 
  // Documentation inherited
  void updateDegreeOfFreedomNames() override;
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool =true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_UNIVERSALJOINT_HPP_