DART  6.7.3
PrismaticJoint.hpp
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32 
33 #ifndef DART_DYNAMICS_PRISMATICJOINT_HPP_
34 #define DART_DYNAMICS_PRISMATICJOINT_HPP_
35 
37 
38 namespace dart {
39 namespace dynamics {
40 
43 {
44 public:
45 
46  friend class Skeleton;
50 
52 
53  PrismaticJoint(const PrismaticJoint&) = delete;
54 
56  virtual ~PrismaticJoint();
57 
59  void setProperties(const Properties& _properties);
60 
62  void setProperties(const UniqueProperties& _properties);
63 
66 
69 
71  void copy(const PrismaticJoint& _otherJoint);
72 
74  void copy(const PrismaticJoint* _otherJoint);
75 
77  PrismaticJoint& operator=(const PrismaticJoint& _otherJoint);
78 
79  // Documentation inherited
80  const std::string& getType() const override;
81 
83  static const std::string& getStaticType();
84 
85  // Documentation inherited
86  bool isCyclic(std::size_t _index) const override;
87 
89  void setAxis(const Eigen::Vector3d& _axis);
90 
92  const Eigen::Vector3d& getAxis() const;
93 
94  // Documentation inherited
95  GenericJoint<math::R1Space>::JacobianMatrix getRelativeJacobianStatic(
96  const GenericJoint<math::R1Space>::Vector& positions) const override;
97 
98 protected:
99 
102 
103  // Documentation inherited
104  Joint* clone() const override;
105 
106  // Documentation inherited
107  void updateDegreeOfFreedomNames() override;
108 
109  // Documentation inherited
110  void updateRelativeTransform() const override;
111 
112  // Documentation inherited
113  void updateRelativeJacobian(bool _mandatory=true) const override;
114 
115  // Documentation inherited
116  void updateRelativeJacobianTimeDeriv() const override;
117 };
118 
119 } // namespace dynamics
120 } // namespace dart
121 
122 #endif // DART_DYNAMICS_PRISMATICJOINT_HPP_
BodyPropPtr properties
Definition: SdfParser.cpp:80
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
This is an alternative to EmbedProperties which allows your class to also inherit other Composite obj...
Definition: EmbeddedAspect.hpp:248
typename Impl::Aspect Aspect
Definition: EmbeddedAspect.hpp:255
typename Impl::AspectProperties AspectProperties
Definition: EmbeddedAspect.hpp:254
Definition: GenericJoint.hpp:49
class Joint
Definition: Joint.hpp:59
class RevoluteJoint
Definition: PrismaticJoint.hpp:43
Joint * clone() const override
Definition: PrismaticJoint.cpp:165
const std::string & getType() const override
Definition: PrismaticJoint.cpp:102
void setAspectProperties(const AspectProperties &properties)
Set the AspectProperties of this PrismaticJoint.
Definition: PrismaticJoint.cpp:65
void setProperties(const Properties &_properties)
Set the Properties of this PrismaticJoint.
Definition: PrismaticJoint.cpp:51
void updateDegreeOfFreedomNames() override
Definition: PrismaticJoint.cpp:171
void updateRelativeJacobian(bool _mandatory=true) const override
Definition: PrismaticJoint.cpp:190
void updateRelativeTransform() const override
Definition: PrismaticJoint.cpp:179
void copy(const PrismaticJoint &_otherJoint)
Copy the Properties of another PrismaticJoint.
Definition: PrismaticJoint.cpp:77
void updateRelativeJacobianTimeDeriv() const override
Definition: PrismaticJoint.cpp:197
static const std::string & getStaticType()
Get joint type for this class.
Definition: PrismaticJoint.cpp:108
void setAxis(const Eigen::Vector3d &_axis)
Definition: PrismaticJoint.cpp:121
GenericJoint< math::R1Space >::JacobianMatrix getRelativeJacobianStatic(const GenericJoint< math::R1Space >::Vector &positions) const override
Definition: PrismaticJoint.cpp:140
bool isCyclic(std::size_t _index) const override
Definition: PrismaticJoint.cpp:115
Properties getPrismaticJointProperties() const
Get the Properties of this PrismaticJoint.
Definition: PrismaticJoint.cpp:71
const Eigen::Vector3d & getAxis() const
Definition: PrismaticJoint.cpp:133
class Skeleton
Definition: Skeleton.hpp:59
#define DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(TypeName, AspectName)
Definition: Composite.hpp:164
Definition: Random-impl.hpp:92
common::EmbedPropertiesOnTopOf< PrismaticJoint, PrismaticJointUniqueProperties, GenericJoint< math::R1Space > > PrismaticJointBase
Definition: PrismaticJointAspect.hpp:78
RealVectorSpace< 1u > R1Space
Definition: ConfigurationSpace.hpp:72
Definition: BulletCollisionDetector.cpp:63
Definition: SharedLibraryManager.hpp:43
Definition: PrismaticJointAspect.hpp:64
Definition: PrismaticJointAspect.hpp:51