JointAspect.hpp

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#ifndef DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_

#include <Eigen/Core>
#include <Eigen/Geometry>

namespace dart {
namespace dynamics {
namespace detail {

enum ActuatorType
{
  FORCE,

  PASSIVE,

  SERVO,

  MIMIC,

  ACCELERATION,

  VELOCITY,

  LOCKED
};

const ActuatorType DefaultActuatorType = FORCE;

struct JointProperties
{
  std::string mName;

  Eigen::Isometry3d mT_ParentBodyToJoint;

  Eigen::Isometry3d mT_ChildBodyToJoint;

  bool mIsPositionLimitEnforced;
  // TODO(JS): Rename this to mAreLimitsEnforced

  ActuatorType mActuatorType;

  const Joint* mMimicJoint;

  double mMimicMultiplier, mMimicOffset;

  JointProperties(
      const std::string& _name = "Joint",
      const Eigen::Isometry3d& _T_ParentBodyToJoint
      = Eigen::Isometry3d::Identity(),
      const Eigen::Isometry3d& _T_ChildBodyToJoint
      = Eigen::Isometry3d::Identity(),
      bool _isPositionLimitEnforced = false,
      ActuatorType _actuatorType = DefaultActuatorType,
      const Joint* _mimicJoint = nullptr,
      double _mimicMultiplier = 1.0,
      double _mimicOffset = 0.0);

  virtual ~JointProperties() = default;

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

} // namespace detail
} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_JOINTASPECT_HPP_