1 /*
2  * Copyright (c) 2011-2021, The DART development contributors
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4  *
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10  *   without modification, are permitted provided that the following
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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
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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