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 #include "dart/dynamics/RevoluteJoint.hpp"
34
35 namespace dart {
36 namespace dynamics {
37 namespace detail {
38
39 //==============================================================================
RevoluteJointUniqueProperties(const Eigen::Vector3d & _axis)40 RevoluteJointUniqueProperties::RevoluteJointUniqueProperties(
41 const Eigen::Vector3d& _axis)
42 : mAxis(_axis.normalized())
43 {
44 // Do nothing
45 }
46
47 //==============================================================================
RevoluteJointProperties(const GenericJoint<math::R1Space>::Properties & genericJointProperties,const RevoluteJointUniqueProperties & revoluteProperties)48 RevoluteJointProperties::RevoluteJointProperties(
49 const GenericJoint<math::R1Space>::Properties& genericJointProperties,
50 const RevoluteJointUniqueProperties& revoluteProperties)
51 : GenericJoint<math::R1Space>::Properties(genericJointProperties),
52 RevoluteJointUniqueProperties(revoluteProperties)
53 {
54 // Do nothing
55 }
56
57 } // namespace detail
58 } // namespace dynamics
59 } // namespace dart
60