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#ifndef DART_DYNAMICS_FIXEDFRAME_HPP_
#define DART_DYNAMICS_FIXEDFRAME_HPP_

#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/VersionCounter.hpp"
#include "dart/dynamics/Frame.hpp"
#include "dart/dynamics/detail/FixedFrameAspect.hpp"

namespace dart {
namespace dynamics {

/// The FixedFrame class represents a Frame with zero relative velocity and
/// zero relative acceleration. It does not move within its parent Frame after
/// its relative transform is set. However, classes that inherit the FixedFrame
/// class may alter its relative transform or change what its parent Frame is.
class FixedFrame
  : public virtual Frame,
    public virtual common::VersionCounter,
    public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
{
public:
  /// Constructor
  explicit FixedFrame(
      Frame* refFrame,
      const Eigen::Isometry3d& relativeTransform
      = Eigen::Isometry3d::Identity());

  /// Destructor
  virtual ~FixedFrame();

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

  /// Set the relative transform of this FixedFrame
  virtual void setRelativeTransform(const Eigen::Isometry3d& transform);

  // Documentation inherited
  const Eigen::Isometry3d& getRelativeTransform() const override;

  /// Always returns a zero vector
  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;

  /// Always returns a zero vector
  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;

  /// Always returns a zero vector
  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;

  /// Always returns a zero vector
  const Eigen::Vector6d& getPartialAcceleration() const override;

protected:
  /// Default constructor -- calls the Abstract constructor
  FixedFrame();

  /// Abstract constructor
  explicit FixedFrame(ConstructAbstractTag);

  /// Used for Relative Velocity and Relative Acceleration of this Frame
  static const Eigen::Vector6d mZero;

public:
  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_FIXEDFRAME_HPP_
