dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/SoftMeshShape.hpp

@@ -0,0 +1,100 @@
+/*
+ * 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_SOFTMESHSHAPE_HPP_
+#define DART_DYNAMICS_SOFTMESHSHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+#include <Eigen/Dense>
+#include <assimp/scene.h>
+
+namespace dart {
+namespace dynamics {
+
+class SoftBodyNode;
+
+// TODO(JS): Implement
+class SoftMeshShape : public Shape
+{
+public:
+  friend class SoftBodyNode;
+
+  /// \brief Constructor.
+  explicit SoftMeshShape(SoftBodyNode* _softBodyNode);
+
+  /// \brief Destructor.
+  virtual ~SoftMeshShape();
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// \brief
+  const aiMesh* getAssimpMesh() const;
+
+  /// Get the SoftBodyNode that is associated with this SoftMeshShape
+  const SoftBodyNode* getSoftBodyNode() const;
+
+  /// \brief Update positions of the vertices using the parent soft body node.
+  void update();
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+private:
+  /// \brief Build mesh using SoftBodyNode data
+  void _buildMesh();
+
+  /// \brief
+  SoftBodyNode* mSoftBodyNode;
+
+  /// \brief
+  std::unique_ptr<aiMesh> mAssimpMesh;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SOFTMESHSHAPE_HPP_

include/dart/dynamics/SpecializedNodeManager.hpp

@@ -0,0 +1,230 @@
+/*
+ * 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_SPECIALIZEDNODEMANAGER_HPP_
+#define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_
+
+#include <dart/dynamics/NodeManagerJoiner.hpp>
+#include <dart/dynamics/detail/BasicNodeManager.hpp>
+
+#include <dart/common/Virtual.hpp>
+
+namespace dart {
+namespace dynamics {
+
+class BodyNode;
+class Skeleton;
+
+//==============================================================================
+/// Declaration of the variadic template
+template <class... OtherSpecNodes>
+class BodyNodeSpecializedFor
+{
+};
+
+//==============================================================================
+/// BodyNodeSpecializedFor allows classes that inherit BodyNode to
+/// have constant-time access to a specific type of Node
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+template <class SpecNode>
+class BodyNodeSpecializedFor<SpecNode>
+  : public virtual detail::BasicNodeManagerForBodyNode
+{
+public:
+  /// Default constructor
+  BodyNodeSpecializedFor();
+
+  /// Get the number of Nodes corresponding to the specified type
+  template <class NodeType>
+  std::size_t getNumNodes() const;
+
+  /// Get the Node of the specified type and the specified index
+  template <class NodeType>
+  NodeType* getNode(std::size_t index);
+
+  /// Get the Node of the specified type and the specified index
+  template <class NodeType>
+  const NodeType* getNode(std::size_t index) const;
+
+  /// Check if this Manager is specialized for a specific type of Node
+  template <class NodeType>
+  static constexpr bool isSpecializedForNode();
+
+protected:
+  /// Redirect to BasicNodeManagerForBodyNode::getNumNodes()
+  template <class NodeType>
+  std::size_t _getNumNodes(type<NodeType>) const;
+
+  /// Specialized implementation of getNumNodes()
+  std::size_t _getNumNodes(type<SpecNode>) const;
+
+  /// Redirect to BasicNodeManagerForBodyNode::getNode(std::size_t)
+  template <class NodeType>
+  NodeType* _getNode(type<NodeType>, std::size_t index);
+
+  /// Specialized implementation of getNode(std::size_t)
+  SpecNode* _getNode(type<SpecNode>, std::size_t index);
+
+  /// Return false
+  template <class NodeType>
+  static constexpr bool _isSpecializedForNode(type<NodeType>);
+
+  /// Return true
+  static constexpr bool _isSpecializedForNode(type<SpecNode>);
+
+  /// Iterator that allows direct access to the specialized Nodes
+  BasicNodeManagerForBodyNode::NodeMap::iterator mSpecNodeIterator;
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+//==============================================================================
+/// This is the variadic version of the BodyNodeSpecializedFor class
+/// which allows you to include arbitrarily many specialized types in the
+/// specialization.
+template <class SpecNode1, class... OtherSpecNodes>
+class BodyNodeSpecializedFor<SpecNode1, OtherSpecNodes...>
+  : public NodeManagerJoinerForBodyNode<
+        common::Virtual<BodyNodeSpecializedFor<SpecNode1>>,
+        common::Virtual<BodyNodeSpecializedFor<OtherSpecNodes...>>>
+{
+};
+
+//==============================================================================
+/// Declaration of the variadic template
+template <class... OtherSpecNodes>
+class SkeletonSpecializedFor
+{
+};
+
+//==============================================================================
+/// SkeletonSpecializedForNode allows classes that inherit Skeleton to
+/// have constant-time access to a specific type of Node
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+template <class SpecNode>
+class SkeletonSpecializedFor<SpecNode>
+  : public virtual detail::BasicNodeManagerForSkeleton,
+    public virtual BodyNodeSpecializedFor<SpecNode>
+{
+public:
+  using BodyNodeSpecializedFor<SpecNode>::getNode;
+  using BodyNodeSpecializedFor<SpecNode>::getNumNodes;
+  using BodyNodeSpecializedFor<SpecNode>::isSpecializedForNode;
+
+  SkeletonSpecializedFor();
+
+  /// Get the number of Nodes of the specified type that are in the treeIndexth
+  /// tree of this Skeleton
+  template <class NodeType>
+  std::size_t getNumNodes(std::size_t treeIndex) const;
+
+  /// Get the nodeIndexth Node of the specified type within the tree of
+  /// treeIndex.
+  template <class NodeType>
+  NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex);
+
+  /// Get the nodeIndexth Node of the specified type within the tree of
+  /// treeIndex.
+  template <class NodeType>
+  const NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex) const;
+
+  /// Get the Node of the specified type with the given name.
+  template <class NodeType>
+  NodeType* getNode(const std::string& name);
+
+  /// Get the Node of the specified type with the given name.
+  template <class NodeType>
+  const NodeType* getNode(const std::string& name) const;
+
+  /// Check if this Manager is specialized for a specific type of Node
+  template <class T>
+  static constexpr bool isSpecializedForNode();
+
+protected:
+  /// Redirect to BasicNodeManagerForSkeleton::getNumNodes(std::size_t)
+  template <class NodeType>
+  std::size_t _getNumNodes(type<NodeType>, std::size_t treeIndex) const;
+
+  /// Specialized implementation of getNumNodes(std::size_t)
+  std::size_t _getNumNodes(type<SpecNode>, std::size_t treeIndex) const;
+
+  /// Redirect to BasicNodeManagerForSkeleton::getNode(std::size_t, std::size_t)
+  template <class NodeType>
+  NodeType* _getNode(
+      type<NodeType>, std::size_t treeIndex, std::size_t nodeIndex);
+
+  /// Specialized implementation of getNode(std::size_t, std::size_t)
+  SpecNode* _getNode(
+      type<SpecNode>, std::size_t treeIndex, std::size_t nodeIndex);
+
+  /// Redirect to BasicNodeManagerForSkeleton::getNode(const std::string&)
+  template <class NodeType>
+  NodeType* _getNode(type<NodeType>, const std::string& name);
+
+  /// Specialized implementation of getNode(const std::string&)
+  SpecNode* _getNode(type<SpecNode>, const std::string& name);
+
+  /// Return false
+  template <class T>
+  static constexpr bool _isSpecializedForNode(type<T>);
+
+  /// Return true
+  static constexpr bool _isSpecializedForNode(type<SpecNode>);
+
+  /// std::vector of iterators that allow direct access to the specialized Nodes
+  /// of each tree
+  std::vector<BasicNodeManagerForBodyNode::NodeMap::iterator>
+      mTreeSpecNodeIterators;
+
+  /// Iterator that gives direct access to the name manager of the specialized
+  /// Nodes
+  NodeNameMgrMap::iterator mSpecNodeNameMgrIterator;
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+//==============================================================================
+/// This is the variadic version of the SkeletonSpecializedForNode class
+/// which allows you to include arbitrarily many specialized types in the
+/// specialization.
+template <class SpecNode1, class... OtherSpecNodes>
+class SkeletonSpecializedFor<SpecNode1, OtherSpecNodes...>
+  : public NodeManagerJoinerForSkeleton<
+        common::Virtual<SkeletonSpecializedFor<SpecNode1>>,
+        common::Virtual<SkeletonSpecializedFor<OtherSpecNodes...>>>
+{
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#include <dart/dynamics/detail/SpecializedNodeManager.hpp>
+
+#endif // DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_

include/dart/dynamics/SphereShape.hpp

@@ -0,0 +1,89 @@
+/*
+ * 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_SPHERESHAPE_HPP_
+#define DART_DYNAMICS_SPHERESHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+class SphereShape : public Shape
+{
+public:
+  /// Constructor.
+  explicit SphereShape(double radius);
+
+  /// Destructor.
+  virtual ~SphereShape();
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// Set radius of this box.
+  void setRadius(double radius);
+
+  /// Get radius of this box.
+  double getRadius() const;
+
+  /// Compute volume from given properties
+  static double computeVolume(double radius);
+
+  /// Compute moments of inertia of a Sphere
+  static Eigen::Matrix3d computeInertia(double radius, double mass);
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+private:
+  /// Radius of this Sphere
+  double mRadius;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SPHERESHAPE_HPP_

include/dart/dynamics/TemplatedJacobianNode.hpp

@@ -0,0 +1,128 @@
+/*
+ * 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_TEMPLATEDJACOBIANENTITY_HPP_
+#define DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_
+
+#include <dart/dynamics/JacobianNode.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// TemplatedJacobianNode provides a curiously recurring template pattern
+/// implementation of the various JacobianNode non-caching functions. These
+/// functions are easily distinguished because they return by value instead of
+/// returning by const reference.
+///
+/// This style of implementation allows BodyNode and EndEffector to share the
+/// implementations of these various auxiliary Jacobian functions without any
+/// penalty from dynamic overload resolution.
+template <class NodeType>
+class TemplatedJacobianNode : public JacobianNode
+{
+public:
+  // Documentation inherited
+  math::Jacobian getJacobian(
+      const Frame* _inCoordinatesOf) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobian(
+      const Eigen::Vector3d& _offset) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobian(
+      const Eigen::Vector3d& _offset,
+      const Frame* _inCoordinatesOf) const override final;
+
+  // Documentation inherited
+  math::Jacobian getWorldJacobian(
+      const Eigen::Vector3d& _offset) const override final;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobian(
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobian(
+      const Eigen::Vector3d& _offset,
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+  // Documentation inherited
+  math::AngularJacobian getAngularJacobian(
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const Frame* _inCoordinatesOf) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const Eigen::Vector3d& _offset) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobianSpatialDeriv(
+      const Eigen::Vector3d& _offset,
+      const Frame* _inCoordinatesOf) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobianClassicDeriv(
+      const Frame* _inCoordinatesOf) const override final;
+
+  // Documentation inherited
+  math::Jacobian getJacobianClassicDeriv(
+      const Eigen::Vector3d& _offset,
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobianDeriv(
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+  // Documentation inherited
+  math::LinearJacobian getLinearJacobianDeriv(
+      const Eigen::Vector3d& _offset,
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+  // Documentation inherited
+  math::AngularJacobian getAngularJacobianDeriv(
+      const Frame* _inCoordinatesOf = Frame::World()) const override final;
+
+protected:
+  /// Constructor
+  TemplatedJacobianNode(BodyNode* bn);
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#include <dart/dynamics/detail/TemplatedJacobianNode.hpp>
+
+#endif // DART_DYNAMICS_TEMPLATEDJACOBIANENTITY_HPP_

include/dart/dynamics/TranslationalJoint.hpp

@@ -0,0 +1,105 @@
+/*
+ * 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_TRANSLATIONALJOINT_HPP_
+#define DART_DYNAMICS_TRANSLATIONALJOINT_HPP_
+
+#include <dart/dynamics/GenericJoint.hpp>
+
+#include <string>
+
+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_