BallJoint.hpp

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#ifndef DART_DYNAMICS_BALLJOINT_HPP_
#define DART_DYNAMICS_BALLJOINT_HPP_

#include <Eigen/Dense>

#include "dart/dynamics/GenericJoint.hpp"

namespace dart {
namespace dynamics {

class BallJoint : public GenericJoint<math::SO3Space>
{
public:
  friend class Skeleton;

  using Base = GenericJoint<math::SO3Space>;

  struct Properties : Base::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)

    Properties(const Base::Properties& properties = Base::Properties());

    virtual ~Properties() = default;
  };

  virtual ~BallJoint();

  // Documentation inherited
  const std::string& getType() const override;

  static const std::string& getStaticType();

  // Documentation inherited
  bool isCyclic(std::size_t _index) const override;

  Properties getBallJointProperties() const;

  template <typename RotationType>
  static Eigen::Vector3d convertToPositions(const RotationType& _rotation)
  {
    return math::logMap(_rotation);
  }

  static Eigen::Isometry3d convertToTransform(
      const Eigen::Vector3d& _positions);

  static Eigen::Matrix3d convertToRotation(const Eigen::Vector3d& _positions);

  // Documentation inherited
  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;

  // Documentation inherited
  Eigen::Vector3d getPositionDifferencesStatic(
      const Eigen::Vector3d& _q2, const Eigen::Vector3d& _q1) const override;

protected:
  BallJoint(const Properties& properties);

  // Documentation inherited
  Joint* clone() const override;

  using Base::getRelativeJacobianStatic;

  // Documentation inherited
  void integratePositions(double _dt) 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;

protected:
  const Eigen::Isometry3d& getR() const;

  mutable Eigen::Isometry3d mR;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_BALLJOINT_HPP_