Joint.h

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/*
Joint header file
 
Alex Reynolds
*/
#ifndef FRAMES_JOINT_H
#define FRAMES_JOINT_H
 
#include "core/Matrix.hpp"
 
namespace warptwin {
 
    enum joint_type_e {
        NOT_SET,
        MIXED,
        FULLY_FREE,
        FULLY_LOCKED
    };

    class Joint {
    public:
        Joint();

        Joint(joint_type_e joint_type);

        Joint(bool x_free, bool y_free, bool z_free);

        void setFreeAxes(bool x_free, bool y_free, bool z_free); 

        void setJointType(joint_type_e joint_type);

        const clockwerk::Matrix<3, 3>& freedom() const {return _freedom;}
        const clockwerk::Matrix<3, 3>& dependency() const {return _dependency;}

        warptwin::joint_type_e jointType() const {return _joint_type;}
        void jointType(joint_type_e joint_type) {_joint_type = joint_type;}
    protected:
        joint_type_e _joint_type;

        clockwerk::Matrix<3, 3> _freedom;
        clockwerk::Matrix<3, 3> _dependency;
    };
 
}
 
#endif