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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef DART_DYNAMICS_SCREWJOINT_HPP_
#define DART_DYNAMICS_SCREWJOINT_HPP_
#include "dart/dynamics/detail/ScrewJointAspect.hpp"
namespace dart {
namespace dynamics {
/// class ScrewJoint
class ScrewJoint : public detail::ScrewJointBase
{
public:
friend class Skeleton;
using UniqueProperties = detail::ScrewJointUniqueProperties;
using Properties = detail::ScrewJointProperties;
using Base = detail::ScrewJointBase;
DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, ScrewJointAspect)
ScrewJoint(const ScrewJoint&) = delete;
/// Destructor
virtual ~ScrewJoint();
/// Set the Properties of this ScrewJoint
void setProperties(const Properties& _properties);
/// Set the Properties of this ScrewJoint
void setProperties(const UniqueProperties& _properties);
/// Set the AspectProperties of this ScrewJoint
void setAspectProperties(const AspectProperties& properties);
/// Get the Properties of this ScrewJoint
Properties getScrewJointProperties() const;
/// Copy the Properties of another ScrewJoint
void copy(const ScrewJoint& _otherJoint);
/// Copy the Properties of another ScrewJoint
void copy(const ScrewJoint* _otherJoint);
/// Copy the Properties of another ScrewJoint
ScrewJoint& operator=(const ScrewJoint& _otherJoint);
// Documentation inherited
const std::string& getType() const override;
/// Get joint type for this class
static const std::string& getStaticType();
// Documentation inherited
bool isCyclic(std::size_t _index) const override;
///
void setAxis(const Eigen::Vector3d& _axis);
///
const Eigen::Vector3d& getAxis() const;
///
void setPitch(double _pitch);
///
double getPitch() const;
// Documentation inherited
GenericJoint<math::R1Space>::JacobianMatrix getRelativeJacobianStatic(
const GenericJoint<math::R1Space>::Vector& positions) const override;
protected:
/// Constructor called by Skeleton class
ScrewJoint(const Properties& properties);
// Documentation inherited
Joint* clone() const override;
// Documentation inherited
void updateDegreeOfFreedomNames() override;
// Documentation inherited
void updateRelativeTransform() const override;
// Documentation inherited
void updateRelativeJacobian(bool _mandatory = true) const override;
// Documentation inherited
void updateRelativeJacobianTimeDeriv() const override;
};
} // namespace dynamics
} // namespace dart
#endif // DART_DYNAMICS_SCREWJOINT_HPP_
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