FixedFrame.hpp

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#ifndef DART_DYNAMICS_FIXEDFRAME_HPP_
#define DART_DYNAMICS_FIXEDFRAME_HPP_

#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/VersionCounter.hpp"
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/detail/FixedFrameAspect.hpp"

namespace dart {
namespace dynamics {

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class FixedFrame
  : public virtual Frame,
    public virtual common::VersionCounter,
    public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
{
public:
  explicit FixedFrame(
      Frame* refFrame,
      const Eigen::Isometry3d& relativeTransform
      = Eigen::Isometry3d::Identity());

  virtual ~FixedFrame();

  void setAspectProperties(const AspectProperties& properties);

  virtual void setRelativeTransform(const Eigen::Isometry3d& transform);

  // Documentation inherited
  const Eigen::Isometry3d& getRelativeTransform() const override;

  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;

  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;

  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;

  const Eigen::Vector6d& getPartialAcceleration() const override;

protected:
  FixedFrame();

  explicit FixedFrame(ConstructAbstractTag);

  static const Eigen::Vector6d mZero;

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

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_FIXEDFRAME_HPP_