/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 *   POSSIBILITY OF SUCH DAMAGE.
 */

#include <dart/dart.hpp>
#include <eigen_geometry_pybind.h>
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
#include "Joint.hpp"

namespace py = pybind11;

namespace dart {
namespace python {

void WeldJoint(py::module& m)
{
  ::py::class_<
      dart::dynamics::WeldJoint,
      dart::dynamics::ZeroDofJoint,
      std::shared_ptr<dart::dynamics::WeldJoint>>(m, "WeldJoint")
      .def(
          "getWeldJointProperties",
          +[](const dart::dynamics::WeldJoint* self)
              -> dart::dynamics::WeldJoint::Properties {
            return self->getWeldJointProperties();
          })
      .def(
          "getType",
          +[](const dart::dynamics::WeldJoint* self) -> const std::string& {
            return self->getType();
          },
          ::py::return_value_policy::reference_internal)
      .def(
          "isCyclic",
          +[](const dart::dynamics::WeldJoint* self,
              std::size_t _index) -> bool { return self->isCyclic(_index); },
          ::py::arg("index"))
      .def(
          "setTransformFromParentBodyNode",
          +[](dart::dynamics::WeldJoint* self, const Eigen::Isometry3d& _T) {
            self->setTransformFromParentBodyNode(_T);
          },
          ::py::arg("T"))
      .def(
          "setTransformFromChildBodyNode",
          +[](dart::dynamics::WeldJoint* self, const Eigen::Isometry3d& _T) {
            self->setTransformFromChildBodyNode(_T);
          },
          ::py::arg("T"))
      .def_static(
          "getStaticType",
          +[]() -> const std::string& {
            return dart::dynamics::WeldJoint::getStaticType();
          },
          ::py::return_value_policy::reference_internal);
}

} // namespace python
} // namespace dart
