1 /* 2 * Copyright (c) 2011-2021, The DART development contributors 3 * All rights reserved. 4 * 5 * The list of contributors can be found at: 6 * https://github.com/dartsim/dart/blob/master/LICENSE 7 * 8 * This file is provided under the following "BSD-style" License: 9 * Redistribution and use in source and binary forms, with or 10 * without modification, are permitted provided that the following 11 * conditions are met: 12 * * Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * * Redistributions in binary form must reproduce the above 15 * copyright notice, this list of conditions and the following 16 * disclaimer in the documentation and/or other materials provided 17 * with the distribution. 18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF 26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 * POSSIBILITY OF SUCH DAMAGE. 31 */ 32 33 #ifndef DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_ 34 #define DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_ 35 36 #include <string> 37 38 #include <Eigen/Dense> 39 40 #include "dart/dynamics/GenericJoint.hpp" 41 42 namespace dart { 43 namespace dynamics { 44 45 class RevoluteJoint; 46 47 namespace detail { 48 49 //============================================================================== 50 struct RevoluteJointUniqueProperties 51 { 52 Eigen::Vector3d mAxis; 53 54 RevoluteJointUniqueProperties( 55 const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ()); 56 57 virtual ~RevoluteJointUniqueProperties() = default; 58 }; 59 60 //============================================================================== 61 struct RevoluteJointProperties : GenericJoint<math::R1Space>::Properties, 62 RevoluteJointUniqueProperties 63 { 64 DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(RevoluteJointProperties) 65 66 RevoluteJointProperties( 67 const GenericJoint<math::R1Space>::Properties& genericJointProperties 68 = GenericJoint<math::R1Space>::Properties(), 69 const RevoluteJointUniqueProperties& revoluteProperties 70 = RevoluteJointUniqueProperties()); 71 72 virtual ~RevoluteJointProperties() = default; 73 }; 74 75 //============================================================================== 76 using RevoluteJointBase = common::EmbedPropertiesOnTopOf< 77 RevoluteJoint, 78 RevoluteJointUniqueProperties, 79 GenericJoint<math::R1Space> >; 80 81 } // namespace detail 82 83 } // namespace dynamics 84 } // namespace dart 85 86 #endif // DART_DYNAMICS_DETAIL_REVOLUTEJOINTASPECT_HPP_ 87