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#ifndef DART_DYNAMICS_REVOLUTEJOINT_HPP_
#define DART_DYNAMICS_REVOLUTEJOINT_HPP_

#include "dart/dynamics/detail/RevoluteJointAspect.hpp"

namespace dart {
namespace dynamics {

/// class RevoluteJoint
class RevoluteJoint : public detail::RevoluteJointBase
{
public:
  friend class Skeleton;
  using UniqueProperties = detail::RevoluteJointUniqueProperties;
  using Properties = detail::RevoluteJointProperties;
  using Base = detail::RevoluteJointBase;

  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, RevoluteJointAspect)

  RevoluteJoint(const RevoluteJoint&) = delete;

  /// Destructor
  virtual ~RevoluteJoint();

  /// Set the Properties of this RevoluteJoint
  void setProperties(const Properties& _properties);

  /// Set the Properties of this RevoluteJoint
  void setProperties(const UniqueProperties& _properties);

  /// Set the AspectProperties of this RevoluteJoint
  void setAspectProperties(const AspectProperties& properties);

  /// Get the Properties of this RevoluteJoint
  Properties getRevoluteJointProperties() const;

  /// Copy the Properties of another RevoluteJoint
  void copy(const RevoluteJoint& _otherJoint);

  /// Copy the Properties of another RevoluteJoint
  void copy(const RevoluteJoint* _otherJoint);

  /// Copy the Properties of another RevoluteJoint
  RevoluteJoint& operator=(const RevoluteJoint& _otherJoint);

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

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

  /// Get joint type for this class
  static const std::string& getStaticType();

  ///
  void setAxis(const Eigen::Vector3d& _axis);

  ///
  const Eigen::Vector3d& getAxis() const;

  // Documentation inherited
  GenericJoint<math::R1Space>::JacobianMatrix getRelativeJacobianStatic(
      const GenericJoint<math::R1Space>::Vector& positions) const override;

protected:
  /// Constructor called by Skeleton class
  RevoluteJoint(const Properties& properties);

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

  // Documentation inherited
  void updateDegreeOfFreedomNames() override;

  // Documentation inherited
  void updateRelativeTransform() const override;

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

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

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_REVOLUTEJOINT_HPP_
