FixedJoint.h

/****************************************************************************
 * Copyright 2014 Evan Drumwright
 * This library is distributed under the terms of the Apache V2.0 License 
 ****************************************************************************/

#ifndef FIXEDJOINT
#error This class is not to be included by the user directly. Use FixedJointd.h or FixedJointf.h instead.
#endif

class FIXEDJOINT : public virtual JOINT
{
  public:
    FIXEDJOINT();
    virtual void update_spatial_axes();    
    virtual void determine_q(VECTORN& q) { }
    virtual boost::shared_ptr<const POSE3> get_induced_pose();
    virtual const std::vector<SVELOCITY>& get_spatial_axes_dot();
    virtual unsigned num_dof() const { return 0; }
    virtual void evaluate_constraints(REAL C[]);
    virtual void set_inboard_pose(boost::shared_ptr<const POSE3> inboard_pose, bool update_joint_pose);
    virtual void set_outboard_pose(boost::shared_ptr<POSE3> outboard_pose, bool update_joint_pose);
    virtual void calc_constraint_jacobian(bool inboard, MATRIXN& Cq);
    virtual void calc_constraint_jacobian_dot(bool inboard, MATRIXN& Cq);

    virtual bool is_singular_config() const { return false; }

  private:
    void setup_joint();

    boost::shared_ptr<POSE3> _T;

    VECTOR3 _rconst;

    VECTOR3 _ui;

    std::vector<SVELOCITY> _s_dot;

    boost::shared_ptr<POSE3> _F1, _F2;
}; // end class