DART  6.7.3
PlanarJointAspect.hpp
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32 
33 #ifndef DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
34 #define DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
35 
36 #include <string>
37 
39 
40 namespace dart {
41 namespace dynamics {
42 
43 class PlanarJoint;
44 
45 namespace detail {
46 
47 //==============================================================================
49 enum class PlaneType : int
50 {
51  XY,
52  YZ,
53  ZX,
54  ARBITRARY
55 };
56 
57 //==============================================================================
66 {
69 
71  Eigen::Vector3d mTransAxis1;
72 
74  Eigen::Vector3d mTransAxis2;
75 
77  Eigen::Vector3d mRotAxis;
78 
82 
85  PlanarJointUniqueProperties(const Eigen::Vector3d& _transAxis1,
86  const Eigen::Vector3d& _transAxis2);
87 
90 
91  virtual ~PlanarJointUniqueProperties() = default;
92 
94  void setXYPlane();
95 
97  void setYZPlane();
98 
100  void setZXPlane();
101 
103  void setArbitraryPlane(const Eigen::Vector3d& _transAxis1,
104  const Eigen::Vector3d& _transAxis2);
105 };
106 
107 //==============================================================================
109  GenericJoint<math::R3Space>::Properties,
111 {
113 
115  const GenericJoint<math::R3Space>::Properties& genericJointProperties =
117  const PlanarJointUniqueProperties& planarProperties =
119 
120  virtual ~PlanarJointProperties() = default;
121 };
122 
123 //==============================================================================
126 
127 } // namespace detail
128 } // namespace dynamics
129 } // namespace dart
130 
131 #endif // DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_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
PlanarJoint represents a 3-dof joint, which has two orthogonal translational axes and one rotational ...
Definition: PlanarJoint.hpp:48
PlaneType
Plane type.
Definition: PlanarJointAspect.hpp:50
Definition: BulletCollisionDetector.cpp:63
Definition: PlanarJointAspect.hpp:111
PlanarJointProperties(const GenericJoint< math::R3Space >::Properties &genericJointProperties=GenericJoint< math::R3Space >::Properties(), const PlanarJointUniqueProperties &planarProperties=PlanarJointUniqueProperties())
Definition: PlanarJointAspect.cpp:139
Properties that are unique to PlanarJoints.
Definition: PlanarJointAspect.hpp:66
void setXYPlane()
Set plane type as XY-plane.
Definition: PlanarJointAspect.cpp:88
PlanarJointUniqueProperties(PlaneType _planeType=PlaneType::XY)
Constructor for pre-defined plane types.
Definition: PlanarJointAspect.cpp:40
void setArbitraryPlane(const Eigen::Vector3d &_transAxis1, const Eigen::Vector3d &_transAxis2)
Set plane type as arbitrary plane with two orthogonal translational axes.
Definition: PlanarJointAspect.cpp:115
PlaneType mPlaneType
Plane type.
Definition: PlanarJointAspect.hpp:68
void setZXPlane()
Set plane type as ZX-plane.
Definition: PlanarJointAspect.cpp:106
Eigen::Vector3d mTransAxis2
Second translational axis.
Definition: PlanarJointAspect.hpp:74
void setYZPlane()
Set plane type as YZ-plane.
Definition: PlanarJointAspect.cpp:97
Eigen::Vector3d mRotAxis
Rotational axis.
Definition: PlanarJointAspect.hpp:77
Eigen::Vector3d mTransAxis1
First translational axis.
Definition: PlanarJointAspect.hpp:71