WeldJoint.hpp

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#ifndef DART_DYNAMICS_WELDJOINT_HPP_
#define DART_DYNAMICS_WELDJOINT_HPP_
 
#include <string>
 
#include <Eigen/Dense>
 
#include "dart/dynamics/ZeroDofJoint.hpp"
 
namespace dart {
namespace dynamics {
 
class WeldJoint : public ZeroDofJoint
{
public:
 
  friend class Skeleton;
 
  struct Properties : ZeroDofJoint::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
 
    Properties(const Joint::Properties& _properties = Joint::Properties());
 
    virtual ~Properties() = default;
  };
 
  WeldJoint(const WeldJoint&) = delete;
 
  virtual ~WeldJoint();
 
  Properties getWeldJointProperties() const;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;
 
  // Documentation inherited
  void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T) override;
 
  // Documentation inherited
  void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T) override;
 
protected:
 
  WeldJoint(const Properties& properties);
 
  // Documentation inherited
  Joint* clone() const override;
 
  //----------------------------------------------------------------------------
  // Recursive algorithms
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void updateRelativeTransform() const override;
 
  // Documentation inherited
  void updateRelativeSpatialVelocity() const override;
 
  // Documentation inherited
  void updateRelativeSpatialAcceleration() const override;
 
  // Documentation inherited
  void updateRelativePrimaryAcceleration() const override;
 
  // Documentation inherited
  void updateRelativeJacobian(bool =true) const override;
 
  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};
 
}  // namespace dynamics
}  // namespace dart
 
#endif  // DART_DYNAMICS_WELDJOINT_HPP_