dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/ReferentialSkeleton.hpp

@@ -0,0 +1,550 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_REFERENTIALSKELETON_HPP_
+#define DART_DYNAMICS_REFERENTIALSKELETON_HPP_
+
+#include <dart/dynamics/MetaSkeleton.hpp>
+#include <dart/dynamics/SmartPointer.hpp>
+
+#include <unordered_map>
+#include <unordered_set>
+
+namespace dart {
+namespace dynamics {
+
+/// ReferentialSkeleton is a base class used to implement Linkage, Group, and
+/// other classes that are used to reference subsections of Skeletons.
+class ReferentialSkeleton : public MetaSkeleton
+{
+public:
+  /// Remove copy operator
+  /// TODO(MXG): Consider allowing this
+  ReferentialSkeleton& operator=(const ReferentialSkeleton& _other) = delete;
+
+  /// Default destructor
+  virtual ~ReferentialSkeleton() = default;
+
+  // Documentation inherited
+  std::unique_ptr<common::LockableReference> getLockableReference()
+      const override;
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Name
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  const std::string& setName(const std::string& _name) override;
+
+  // Documentation inherited
+  const std::string& getName() const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Structural Properties
+  //----------------------------------------------------------------------------
+
+  /// Returns number of skeletons associated with this ReferentialSkeleton.
+  std::size_t getNumSkeletons() const;
+
+  /// Returns whether this ReferentialSkeleton contains any BodyNode or Joint
+  /// from \c skel.
+  bool hasSkeleton(const Skeleton* skel) const;
+
+  // Documentation inherited
+  std::size_t getNumBodyNodes() const override;
+
+  // Documentation inherited
+  BodyNode* getBodyNode(std::size_t _idx) override;
+
+  // Documentation inherited
+  const BodyNode* getBodyNode(std::size_t _idx) const override;
+
+  /// \copydoc MetaSkeleton::getBodyNode(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple BodyNodes with the same
+  /// name when this ReferentialSkeleton contains BodyNodes from multiple
+  /// Skeletons. In this case, this function returns the first one, which is
+  /// implementation dependent, and prints a warning.
+  BodyNode* getBodyNode(const std::string& name) override;
+
+  /// \copydoc MetaSkeleton::getBodyNode(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple BodyNodes with the same
+  /// name when this ReferentialSkeleton contains BodyNodes from multiple
+  /// Skeletons. In this case, this function returns the first one, which is
+  /// implementation dependent, and prints a warning.
+  const BodyNode* getBodyNode(const std::string& name) const override;
+
+  // Documentation inherited
+  const std::vector<BodyNode*>& getBodyNodes() override;
+
+  // Documentation inherited
+  const std::vector<const BodyNode*>& getBodyNodes() const override;
+
+  /// \copydoc MetaSkeleton::getBodyNodes(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple BodyNodes with the same
+  /// name when ReferentialSkeleton contains BodyNodes from multiple Skeletons.
+  std::vector<BodyNode*> getBodyNodes(const std::string& name) override;
+
+  /// \copydoc MetaSkeleton::getBodyNodes(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple BodyNodes with the same
+  /// name when ReferentialSkeleton contains BodyNodes from multiple Skeletons.
+  std::vector<const BodyNode*> getBodyNodes(
+      const std::string& name) const override;
+
+  // Documentation inherited
+  bool hasBodyNode(const BodyNode* bodyNode) const override;
+
+  // Documentation inherited
+  std::size_t getIndexOf(
+      const BodyNode* _bn, bool _warning = true) const override;
+
+  // Documentation inherited
+  std::size_t getNumJoints() const override;
+
+  // Documentation inherited
+  Joint* getJoint(std::size_t _idx) override;
+
+  // Documentation inherited
+  const Joint* getJoint(std::size_t _idx) const override;
+
+  /// \copydoc MetaSkeleton::getJoint(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple Joints with the same
+  /// name when this ReferentialSkeleton contains Joints from multiple
+  /// Skeletons. In this case, this function returns the first one, which is
+  /// implementation dependent, and prints a warning.
+  Joint* getJoint(const std::string& name) override;
+
+  /// \copydoc MetaSkeleton::getJoint(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple Joints with the same
+  /// name when this ReferentialSkeleton contains Joints from multiple
+  /// Skeletons. In this case, this function returns the first one, which is
+  /// implementation dependent, and prints a warning.
+  const Joint* getJoint(const std::string& name) const override;
+
+  // Documentation inherited
+  std::vector<Joint*> getJoints() override;
+
+  // Documentation inherited
+  std::vector<const Joint*> getJoints() const override;
+
+  /// \copydoc MetaSkeleton::getJoints(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple Joints with the same
+  /// name when ReferentialSkeleton contains Joints from multiple Skeletons.
+  std::vector<Joint*> getJoints(const std::string& name) override;
+
+  /// \copydoc MetaSkeleton::getJoints(const std::string&).
+  ///
+  /// \note ReferentialSkeleton can contain multiple Joints with the same
+  /// name when ReferentialSkeleton contains Joints from multiple Skeletons.
+  std::vector<const Joint*> getJoints(const std::string& name) const override;
+
+  // Documentation inherited
+  bool hasJoint(const Joint* joint) const override;
+
+  // Documentation inherited
+  std::size_t getIndexOf(
+      const Joint* _joint, bool _warning = true) const override;
+
+  // Documentation inherited
+  std::size_t getNumDofs() const override;
+
+  // Documentation inherited
+  DegreeOfFreedom* getDof(std::size_t _idx) override;
+
+  // Documentation inherited
+  const DegreeOfFreedom* getDof(std::size_t _idx) const override;
+
+  // Documentation inherited
+  const std::vector<DegreeOfFreedom*>& getDofs() override;
+
+  // Documentation inherited
+  std::vector<const DegreeOfFreedom*> getDofs() const override;
+
+  // Documentation inherited
+  std::size_t getIndexOf(
+      const DegreeOfFreedom* _dof, bool _warning = true) const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Jacobians
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  math::Jacobian getJacobian(const JacobianNode* _node) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobian(
+      const JacobianNode* _node, const Frame* _inCoordinatesOf) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobian(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobian(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset,
+      const Frame* _inCoordinatesOf) const override;
+
+  // Documentation inherited
+  math::Jacobian getWorldJacobian(const JacobianNode* _node) const override;
+
+  // Documentation inherited
+  math::Jacobian getWorldJacobian(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset) const override;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobian(
+      const JacobianNode* _node,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobian(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::AngularJacobian getAngularJacobian(
+      const JacobianNode* _node,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const JacobianNode* _node) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const JacobianNode* _node, const Frame* _inCoordinatesOf) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset,
+      const Frame* _inCoordinatesOf) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianClassicDeriv(
+      const JacobianNode* _node) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianClassicDeriv(
+      const JacobianNode* _node, const Frame* _inCoordinatesOf) const override;
+
+  // Documentation inherited
+  math::Jacobian getJacobianClassicDeriv(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobianDeriv(
+      const JacobianNode* _node,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobianDeriv(
+      const JacobianNode* _node,
+      const Eigen::Vector3d& _localOffset,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::AngularJacobian getAngularJacobianDeriv(
+      const JacobianNode* _node,
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Equations of Motion
+  //----------------------------------------------------------------------------
+
+  /// Get the total mass of all BodyNodes in this ReferentialSkeleton. For
+  /// ReferentialSkeleton::getMass(), the total mass is computed upon request,
+  /// so this is a linear-time O(N) operation. The Skeleton::getMass() version,
+  /// however, is constant-time.
+  double getMass() const override;
+
+  // Documentation inherited
+  const Eigen::MatrixXd& getMassMatrix() const override;
+
+  // Documentation inherited
+  const Eigen::MatrixXd& getAugMassMatrix() const override;
+
+  // Documentation inherited
+  const Eigen::MatrixXd& getInvMassMatrix() const override;
+
+  // Documentation inherited
+  const Eigen::MatrixXd& getInvAugMassMatrix() const override;
+
+  // Documentation inherited
+  const Eigen::VectorXd& getCoriolisForces() const override;
+
+  // Documentation inherited
+  const Eigen::VectorXd& getGravityForces() const override;
+
+  // Documentation inherited
+  const Eigen::VectorXd& getCoriolisAndGravityForces() const override;
+
+  // Documentation inherited
+  const Eigen::VectorXd& getExternalForces() const override;
+
+  // Documentation inherited
+  const Eigen::VectorXd& getConstraintForces() const override;
+
+  // Documentation inherited
+  void clearExternalForces() override;
+
+  // Documentation inherited
+  void clearInternalForces() override;
+
+  // Documentation inherited
+  double computeKineticEnergy() const override;
+
+  // Documentation inherited
+  double computePotentialEnergy() const override;
+
+  // Documentation inherited
+  DART_DEPRECATED(6.0)
+  void clearCollidingBodies() override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Center of Mass Jacobian
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  Eigen::Vector3d getCOM(
+      const Frame* _withRespectTo = Frame::World()) const override;
+
+  // Documentation inherited
+  Eigen::Vector6d getCOMSpatialVelocity(
+      const Frame* _relativeTo = Frame::World(),
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  Eigen::Vector3d getCOMLinearVelocity(
+      const Frame* _relativeTo = Frame::World(),
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  Eigen::Vector6d getCOMSpatialAcceleration(
+      const Frame* _relativeTo = Frame::World(),
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  Eigen::Vector3d getCOMLinearAcceleration(
+      const Frame* _relativeTo = Frame::World(),
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::Jacobian getCOMJacobian(
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::LinearJacobian getCOMLinearJacobian(
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::Jacobian getCOMJacobianSpatialDeriv(
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  // Documentation inherited
+  math::LinearJacobian getCOMLinearJacobianDeriv(
+      const Frame* _inCoordinatesOf = Frame::World()) const override;
+
+  /// \}
+
+protected:
+  /// Default constructor. Protected to avoid blank and useless instantiations
+  /// of ReferentialSkeleton.
+  ReferentialSkeleton() = default;
+
+  /// Add a BodyNode, along with its parent Joint and parent DegreesOfFreedom
+  /// to this ReferentialSkeleton. This can only be used by derived classes.
+  void registerComponent(BodyNode* _bn);
+
+  /// Add a BodyNode to this ReferentialSkeleton, ignoring its Joint and
+  /// DegreesOfFreedom. This can only be used by derived classes.
+  void registerBodyNode(BodyNode* _bn);
+
+  /// Add a Joint to this Referential Skeleton, ignoring its DegreesOfFreedom.
+  /// This can only be used by derived classes.
+  void registerJoint(Joint* _joint);
+
+  /// Add a DegreeOfFreedom to this ReferentialSkeleton. This can only be used
+  /// by derived classes.
+  void registerDegreeOfFreedom(DegreeOfFreedom* _dof);
+
+  /// Completely remove a BodyNode and its parent DegreesOfFreedom from this
+  /// ReferentialSkeleton. This can only be used by derived classes.
+  void unregisterComponent(BodyNode* _bn);
+
+  /// Remove a BodyNode from this ReferentialSkeleton, ignoring its parent
+  /// DegreesOfFreedom. This can only be used by derived classes.
+  void unregisterBodyNode(BodyNode* _bn, bool _unregisterDofs);
+
+  /// Remove a Joint from this ReferentialSkeleton. This can only be used by
+  /// derived classes.
+  void unregisterJoint(BodyNode* _child);
+
+  /// Remove a DegreeOfFreedom from this ReferentialSkeleton. This can only be
+  /// used by derived classes.
+  void unregisterDegreeOfFreedom(BodyNode* _bn, std::size_t _localIndex);
+
+  /// Update the caches to match any changes to the structure of this
+  /// ReferentialSkeleton
+  void updateCaches();
+
+  /// Weak pointer to this Skeleton
+  std::weak_ptr<MetaSkeleton> mPtr;
+
+  /// A simple struct that contains the indexing of a BodyNode and its parent
+  /// DegreesOfFreedom
+  struct IndexMap
+  {
+    /// Index of the BodyNode
+    std::size_t mBodyNodeIndex;
+
+    /// Index of the parent Joint
+    std::size_t mJointIndex;
+
+    /// Indices of the parent DegreesOfFreedom
+    std::vector<std::size_t> mDofIndices;
+
+    /// Default constructor. Initializes mBodyNodeIndex and mJointIndex to
+    /// INVALID_INDEX
+    IndexMap();
+
+    /// Returns true if nothing in this entry is mapping to a valid index any
+    /// longer.
+    bool isExpired() const;
+  };
+
+  /// Name of this ReferentialSkeleton
+  std::string mName;
+
+  /// Skeletons that this ReferentialSkeleton contains any BodyNode or Joint
+  /// from the Skeletons.
+  std::unordered_set<const Skeleton*> mSkeletons;
+
+  /// Mutexes of the skeletons. The mutexes are sorted in order of memory
+  /// addresses.
+  std::set<std::mutex*> mSkeletonMutexes;
+
+  /// BodyNodes that this ReferentialSkeleton references. These hold strong
+  /// references to ensure that the BodyNodes do not disappear
+  std::vector<BodyNodePtr> mBodyNodes;
+
+  /// Raw BodyNode pointers. This vector is used for the MetaSkeleton API
+  mutable std::vector<BodyNode*> mRawBodyNodes;
+
+  /// Raw const BodyNode pointers. This vector is used for the MetaSkeleton API
+  mutable std::vector<const BodyNode*> mRawConstBodyNodes;
+
+  /// Joints that this ReferentialSkeleton references
+  std::vector<JointPtr> mJoints;
+
+  /// DegreesOfFreedom that this ReferentialSkeleton references
+  std::vector<DegreeOfFreedomPtr> mDofs;
+
+  /// Raw DegreeOfFreedom vector. This vector is used for the MetaSkeleton API
+  mutable std::vector<DegreeOfFreedom*> mRawDofs;
+
+  /// Raw const DegreeOfFreedom vector. This vector is used for the MetaSkeleton
+  /// API
+  mutable std::vector<const DegreeOfFreedom*> mRawConstDofs;
+
+  /// Raw const DegreeOfFreedom. This vector is used for the MetaSkeleton API
+
+  /// Map for keeping track of the indices of BodyNodes, Joints, and
+  /// DegreesOfFreedom
+  std::unordered_map<const BodyNode*, IndexMap> mIndexMap;
+
+  /// Cache for Mass Matrix
+  mutable Eigen::MatrixXd mM;
+
+  /// Cache for Augmented Mass Matrix
+  mutable Eigen::MatrixXd mAugM;
+
+  /// Cache for inverse Mass Matrix
+  mutable Eigen::MatrixXd mInvM;
+
+  /// Cache for inverse Augmented Mass Matrix
+  mutable Eigen::MatrixXd mInvAugM;
+
+  /// Cache for Coriolis vector
+  mutable Eigen::VectorXd mCvec;
+
+  /// Cache for gravity vector
+  mutable Eigen::VectorXd mG;
+
+  /// Cache for combined Coriolis and gravity vector
+  mutable Eigen::VectorXd mCg;
+
+  /// Cache for external force vector
+  mutable Eigen::VectorXd mFext;
+
+  /// Cache for constraint force vector
+  mutable Eigen::VectorXd mFc;
+
+private:
+  /// Add a Skeleton to this ReferentialSkeleton, ignoring its Joint and
+  /// DegreesOfFreedom. This can only be used by this class.
+  void registerSkeleton(const Skeleton* skel);
+
+  /// Removes a Skeleton from this ReferentialSkeleton. This can only be used by
+  /// this class.
+  void unregisterSkeleton(const Skeleton* skel);
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_REFERENTIALSKELETON_HPP_

include/dart/dynamics/RevoluteJoint.hpp

@@ -0,0 +1,120 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#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_