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

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

namespace dart {
namespace dynamics {

/// class ScrewJoint
class ScrewJoint : public detail::ScrewJointBase
{
public:

  friend class Skeleton;
  using UniqueProperties = detail::ScrewJointUniqueProperties;
  using Properties = detail::ScrewJointProperties;
  using Base = detail::ScrewJointBase;

  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, ScrewJointAspect)

  ScrewJoint(const ScrewJoint&) = delete;

  /// Destructor
  virtual ~ScrewJoint();

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

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

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

  /// Get the Properties of this ScrewJoint
  Properties getScrewJointProperties() const;

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

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

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

  // 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;

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

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

  ///
  void setPitch(double _pitch);

  ///
  double getPitch() const;

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

protected:

  /// Constructor called by Skeleton class
  ScrewJoint(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_SCREWJOINT_HPP_
