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 * Copyright (c) 2011-2019, The DART development contributors
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#ifndef DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
#define DART_DYNAMICS_TRANSLATIONALJOINT_HPP_

#include <string>

#include "dart/dynamics/GenericJoint.hpp"

namespace dart {
namespace dynamics {

/// class TranslationalJoint
class TranslationalJoint : public GenericJoint<math::R3Space>
{
public:
  friend class Skeleton;

  using Base = GenericJoint<math::R3Space>;

  struct Properties : Base::Properties
  {
    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)

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

    virtual ~Properties() = default;
  };

  TranslationalJoint(const TranslationalJoint&) = delete;

  /// Destructor
  virtual ~TranslationalJoint();

  /// Get the Properties of this TranslationalJoint
  Properties getTranslationalJointProperties() const;

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

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

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

  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
      const Eigen::Vector3d& _positions) const override;

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

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

  using Base::getRelativeJacobianStatic;

  // 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_TRANSLATIONALJOINT_HPP_
