WeldJoint.hpp

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#ifndef DART_DYNAMICS_WELDJOINT_HPP_
#define DART_DYNAMICS_WELDJOINT_HPP_

#include <string>

#include <Eigen/Dense>

#include "dart/dynamics/ZeroDofJoint.hpp"

namespace dart {
namespace dynamics {

class WeldJoint : public ZeroDofJoint
{
public:
  friend class Skeleton;

  struct Properties : ZeroDofJoint::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)

    Properties(const Joint::Properties& _properties = Joint::Properties());

    virtual ~Properties() = default;
  };

  WeldJoint(const WeldJoint&) = delete;

  virtual ~WeldJoint();

  Properties getWeldJointProperties() const;

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

  static const std::string& getStaticType();

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

  // Documentation inherited
  void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T) override;

  // Documentation inherited
  void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T) override;

protected:
  WeldJoint(const Properties& properties);

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

  //----------------------------------------------------------------------------
  // Recursive algorithms
  //----------------------------------------------------------------------------

  // Documentation inherited
  void updateRelativeTransform() const override;

  // Documentation inherited
  void updateRelativeSpatialVelocity() const override;

  // Documentation inherited
  void updateRelativeSpatialAcceleration() const override;

  // Documentation inherited
  void updateRelativePrimaryAcceleration() const override;

  // Documentation inherited
  void updateRelativeJacobian(bool = true) const override;

  // Documentation inherited
  void updateRelativeJacobianTimeDeriv() const override;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_WELDJOINT_HPP_