dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp

@@ -0,0 +1,338 @@
+/*
+ * 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_DETAIL_DEGREEOFFREEDOMPTR_HPP_
+#define DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_
+
+#include <dart/dynamics/InvalidIndex.hpp>
+#include <dart/dynamics/detail/BodyNodePtr.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// TemplateDegreeOfFreedomPtr is a templated class that enables users to create
+/// a reference-counting DegreeOfFreedomPtr. Holding onto a DegreeOfFreedomPtr
+/// will ensure that the BodyNode (and by extension, Skeleton) corresponding to
+/// a DegreeOfFreedom does not get deleted. However, the DegreeOfFreedom itself
+/// will be deleted if the parent Joint of the BodyNode is changed to a Joint
+/// type that has a small number of DegreesOfFreedom than the local of the
+/// DegreeOfFreedom that this DegreeOfFreedomPtr referred to. In such a case,
+/// this will trigger and assertion in debug mode, or have a nullptr value if
+/// not in debug mode.
+template <class DegreeOfFreedomT, class BodyNodeT>
+class TemplateDegreeOfFreedomPtr
+{
+public:
+  template <class, class>
+  friend class TemplateDegreeOfFreedomPtr;
+
+  /// Default constructor
+  TemplateDegreeOfFreedomPtr() = default;
+
+  /// Typical constructor. _ptr must be a valid pointer (or a nullptr) when
+  /// passed to this constructor
+  TemplateDegreeOfFreedomPtr(DegreeOfFreedomT* _ptr)
+  {
+    set(_ptr);
+  }
+
+  /// Constructor that takes in a strong DegreeOfFreedomPtrs
+  template <class OtherDegreeOfFreedomT, class OtherBodyNodeT>
+  TemplateDegreeOfFreedomPtr(
+      const TemplateDegreeOfFreedomPtr<OtherDegreeOfFreedomT, OtherBodyNodeT>&
+          _dofp)
+  {
+    set(_dofp.get());
+  }
+
+  /// Assignment operator
+  TemplateDegreeOfFreedomPtr& operator=(DegreeOfFreedomT* _ptr)
+  {
+    set(_ptr);
+    return *this;
+  }
+
+  /// Assignment operator for DegreeOfFreedomPtrs
+  template <class OtherDegreeOfFreedomT, class OtherBodyNodeT>
+  TemplateDegreeOfFreedomPtr& operator=(
+      const TemplateDegreeOfFreedomPtr<OtherDegreeOfFreedomT, OtherBodyNodeT>&
+          _dofp)
+  {
+    set(_dofp.get());
+    return *this;
+  }
+
+  /// Implicit conversion
+  operator DegreeOfFreedomT*() const
+  {
+    return get();
+  }
+
+  /// Dereferencing operator
+  DegreeOfFreedomT& operator*() const
+  {
+    return *get();
+  }
+
+  /// Dereferencing operation
+  DegreeOfFreedomT* operator->() const
+  {
+    return get();
+  }
+
+  /// Get the raw DegreeOfFreedom pointer
+  DegreeOfFreedomT* get() const
+  {
+    if (nullptr == mBodyNodePtr)
+      return nullptr;
+
+    return mBodyNodePtr->getParentJoint()->getDof(mIndex);
+  }
+
+  /// Get the BodyNode that this DegreeOfFreedomPtr is tied to
+  TemplateBodyNodePtr<BodyNodeT> getBodyNodePtr() const
+  {
+    return mBodyNodePtr;
+  }
+
+  /// Get the local generalized coordinate index that this DegreeOfFreedomPtr is
+  /// tied to
+  std::size_t getLocalIndex() const
+  {
+    if (nullptr == mBodyNodePtr)
+      return INVALID_INDEX;
+
+    return mIndex;
+  }
+
+  /// Set the DegreeOfFreedom for this DegreeOfFreedomPtr
+  void set(DegreeOfFreedomT* _ptr)
+  {
+    if (nullptr == _ptr) {
+      mBodyNodePtr = nullptr;
+      return;
+    }
+
+    mBodyNodePtr = _ptr->getChildBodyNode();
+    mIndex = _ptr->getIndexInJoint();
+  }
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Comparison operators
+  //----------------------------------------------------------------------------
+
+  /// Equality
+  template <class OtherDofT, class OtherBodyNodeT>
+  bool operator==(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
+  {
+    if (nullptr == mBodyNodePtr && nullptr == _rhs.mBodyNodePtr)
+      return true;
+
+    if ((mBodyNodePtr == _rhs.mBodyNodePtr) && (mIndex == _rhs.mIndex))
+      return true;
+
+    return false;
+  }
+
+  /// Inequality
+  template <class OtherDofT, class OtherBodyNodeT>
+  bool operator!=(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
+  {
+    return !(*this == _rhs);
+  }
+
+  /// Less than
+  template <class OtherDofT, class OtherBodyNodeT>
+  bool operator<(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
+  {
+    if (mBodyNodePtr == _rhs.mBodyNodePtr)
+      return (mIndex < _rhs.mIndex);
+
+    return (mBodyNodePtr < _rhs.mBodyNodePtr);
+  }
+
+  /// Greater than
+  template <class OtherDofT, class OtherBodyNodeT>
+  bool operator>(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
+  {
+    if (mBodyNodePtr == _rhs.mBodyNodePtr)
+      return (mIndex > _rhs.mIndex);
+
+    return (mBodyNodePtr > _rhs.mBodyNodePtr);
+  }
+
+  /// Less than or equal to
+  template <class OtherDofT, class OtherBodyNodeT>
+  bool operator<=(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
+  {
+    return (*this < _rhs) || (*this == _rhs);
+  }
+
+  /// Greater than or equal to
+  template <class OtherDofT, class OtherBodyNodeT>
+  bool operator>=(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _rhs) const
+  {
+    return (*this > _rhs) || (*this == _rhs);
+  }
+
+  /// \}
+
+private:
+  /// Reference-holding pointer to the child BodyNode of this DegreeOfFreedom
+  TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
+
+  /// Local index of this DegreeOfFreedom within its Joint
+  std::size_t mIndex = 0;
+};
+
+/// TemplateWeakDegreeOfFreedomPtr is a templated class that enables users to
+/// create a non-reference-holding WeakDegreeOfFreedomPtr. Holding onto a
+/// WeakDegreeOfFreedomPtr will NOT prevent anything from getting deleted, but
+/// you can use lock() to check whether the DegreeOfFreedom still exists. If it
+/// does exist, it will return a valid strong DegreeOfFreedomPtr. Otherwise it
+/// will return a nullptr DegreeOfFreedomPtr.
+template <class DegreeOfFreedomT, class BodyNodeT>
+class TemplateWeakDegreeOfFreedomPtr
+{
+public:
+  template <class, class>
+  friend class TemplateWeakDegreeOfFreedomPtr;
+
+  /// Default constructor
+  TemplateWeakDegreeOfFreedomPtr()
+  {
+    set(nullptr);
+  }
+
+  /// Typical constructor. _ptr must be a valid pointer (or a nullptr) when
+  /// passed to this constructor
+  TemplateWeakDegreeOfFreedomPtr(DegreeOfFreedomT* _ptr)
+  {
+    set(_ptr);
+  }
+
+  /// Constructor that takes in a WeakDegreeOfFreedomPtr
+  template <class OtherDofT, class OtherBodyNodeT>
+  TemplateWeakDegreeOfFreedomPtr(
+      const TemplateWeakDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _weakPtr)
+  {
+    set(_weakPtr);
+  }
+
+  /// Constructor that takes in a strong DegreeOfFreedomPtr
+  template <class OtherDofT, class OtherBodyNodeT>
+  TemplateWeakDegreeOfFreedomPtr(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _strongPtr)
+  {
+    set(_strongPtr.get());
+  }
+
+  /// Assignment operator for raw DegreeOfFreedom pointers
+  TemplateWeakDegreeOfFreedomPtr& operator=(DegreeOfFreedomT* _ptr)
+  {
+    set(_ptr);
+    return *this;
+  }
+
+  /// Assignemnt operator for WeakDegreeOfFreedomPtrs
+  template <class OtherDofT, class OtherBodyNodeT>
+  TemplateWeakDegreeOfFreedomPtr& operator=(
+      const TemplateWeakDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _weakPtr)
+  {
+    set(_weakPtr);
+    return *this;
+  }
+
+  /// Assignment operator for strong DegreeOfFreedomPtrs
+  template <class OtherDofT, class OtherBodyNodeT>
+  TemplateWeakDegreeOfFreedomPtr& operator=(
+      const TemplateDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _strongPtr)
+  {
+    set(_strongPtr.get());
+    return *this;
+  }
+
+  /// Locks the DegreeOfFreedom reference to ensure that the referenced
+  /// DegreeOfFreedom is currently still available. If the DegreeOfFreedom
+  /// is not available any longer (i.e. has been deleted), then this will return
+  /// a nullptr.
+  TemplateDegreeOfFreedomPtr<DegreeOfFreedomT, BodyNodeT> lock() const
+  {
+    TemplateBodyNodePtr<BodyNodeT> bodyNode = mWeakBodyNode.lock();
+    if (nullptr == bodyNode)
+      return nullptr;
+
+    return TemplateDegreeOfFreedomPtr<DegreeOfFreedomT, BodyNodeT>(
+        bodyNode->getParentJoint()->getDof(mIndex));
+  }
+
+  /// Set the DegreeOfFreedom for this WeakDegreeOfFreedomPtr
+  void set(DegreeOfFreedomT* _ptr)
+  {
+    if (nullptr == _ptr) {
+      mWeakBodyNode = nullptr;
+      mIndex = 0;
+      return;
+    }
+
+    mWeakBodyNode = _ptr->getChildBodyNode();
+    mIndex = _ptr->getIndexInJoint();
+  }
+
+  /// Attempt to set the DegreeOfFreedom for this WeakDegreeOfFreedomPtr based
+  /// on another WeakDegreeOfFreedomPtr
+  template <class OtherDofT, class OtherBodyNodeT>
+  void set(
+      const TemplateWeakDegreeOfFreedomPtr<OtherDofT, OtherBodyNodeT>& _weakPtr)
+  {
+    mWeakBodyNode = _weakPtr.mWeakBodyNode;
+    mIndex = _weakPtr.mIndex;
+  }
+
+private:
+  /// Weak pointer to the child BodyNode of this DegreeOfFreedom
+  TemplateWeakBodyNodePtr<BodyNodeT> mWeakBodyNode;
+
+  /// Local index of this DegreeOfFreedom within its Joint
+  std::size_t mIndex;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_DEGREEOFFREEDOMPTR_HPP_

include/dart/dynamics/detail/EndEffectorAspect.hpp

@@ -0,0 +1,106 @@
+/*
+ * 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_DETAIL_ENDEFFECTORASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_
+
+#include <dart/dynamics/CompositeNode.hpp>
+
+#include <dart/common/SpecializedForAspect.hpp>
+
+#include <Eigen/Geometry>
+
+namespace dart {
+namespace dynamics {
+
+class FixedJacobianNode;
+class Support;
+
+namespace detail {
+
+//==============================================================================
+struct EndEffectorProperties
+{
+  /// The default relative transform for the EndEffector. If the relative
+  /// transform of the EndEffector is ever changed, you can call
+  /// resetRelativeTransform() to return the relative transform to this one.
+  Eigen::Isometry3d mDefaultTransform;
+
+  EndEffectorProperties(
+      const Eigen::Isometry3d& defaultTf = Eigen::Isometry3d::Identity());
+
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+//==============================================================================
+struct SupportStateData
+{
+  /// Whether or not this EndEffector is currently being used to support the
+  /// weight of the robot.
+  bool mActive;
+
+  inline SupportStateData(bool active = false) : mActive(active) {}
+
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+//==============================================================================
+struct SupportPropertiesData
+{
+  /// A set of points representing the support polygon that can be provided by
+  /// the EndEffector. These points must be defined relative to the EndEffector
+  /// frame.
+  math::SupportGeometry mGeometry;
+
+  inline SupportPropertiesData(
+      const math::SupportGeometry& geometry = math::SupportGeometry())
+    : mGeometry(geometry)
+  {
+  }
+
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+void SupportUpdate(Support* support);
+
+using EndEffectorCompositeBase = CompositeNode<common::CompositeJoiner<
+    FixedJacobianNode,
+    common::SpecializedForAspect<Support>>>;
+
+} // namespace detail
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_ENDEFFECTORASPECT_HPP_

include/dart/dynamics/detail/EntityNode.hpp

@@ -0,0 +1,81 @@
+/*
+ * 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_DETAIL_ENTITYNODE_HPP_
+#define DART_DYNAMICS_DETAIL_ENTITYNODE_HPP_
+
+#include <dart/dynamics/Entity.hpp>
+#include <dart/dynamics/EntityNode.hpp>
+
+namespace dart {
+namespace dynamics {
+
+//==============================================================================
+template <class Base>
+void EntityNode<Base>::setAspectProperties(
+    const typename NameAspect::Properties& properties)
+{
+  setName(properties.mName);
+}
+
+//==============================================================================
+template <class Base>
+const std::string& EntityNode<Base>::setName(const std::string& newName)
+{
+  using NameImpl = detail::EntityNodeAspectBase<Base>;
+
+  if (NameImpl::mAspectProperties.mName == newName && !newName.empty())
+    return NameImpl::mAspectProperties.mName;
+
+  const std::string oldName = NameImpl::mAspectProperties.mName;
+
+  NameImpl::mAspectProperties.mName = Node::registerNameChange(newName);
+
+  Node::incrementVersion();
+  Entity::mNameChangedSignal.raise(
+      this, oldName, NameImpl::mAspectProperties.mName);
+
+  return NameImpl::mAspectProperties.mName;
+}
+
+//==============================================================================
+template <class Base>
+const std::string& EntityNode<Base>::getName() const
+{
+  using NameImpl = detail::EntityNodeAspectBase<Base>;
+  return NameImpl::mAspectProperties.mName;
+}
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_ENTITYNODE_HPP_

include/dart/dynamics/detail/EntityNodeAspect.hpp

@@ -0,0 +1,101 @@
+/*
+ * 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_DETAIL_ENTITYNODEASPECT_HPP_
+#define DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_HPP_
+
+#include <dart/dynamics/Node.hpp>
+
+namespace dart {
+namespace dynamics {
+
+template <class Base>
+class EntityNode;
+
+namespace detail {
+
+//==============================================================================
+struct EntityNodeProperties
+{
+  /// Name of the Entity/Node
+  std::string mName;
+
+  /// Default constructor
+  EntityNodeProperties(const std::string& name = "");
+
+  /// Implicit conversion to a string
+  operator const std::string&() const;
+};
+
+//==============================================================================
+template <class Base>
+using EntityNodeAspectBase
+    = common::EmbedProperties<EntityNode<Base>, EntityNodeProperties>;
+
+//==============================================================================
+template <class Base, bool isCompositeBase>
+class EntityNodeBase : public Base, public EntityNodeAspectBase<Base>
+{
+public:
+  /// Forwarding constructor
+  template <typename... Args>
+  EntityNodeBase(Args&&... args) : Base(std::forward<Args>(args)...)
+  {
+    // Do nothing
+  }
+
+  virtual ~EntityNodeBase() = default;
+};
+
+//==============================================================================
+template <class Base>
+class EntityNodeBase<Base, true>
+  : public common::CompositeJoiner<EntityNodeAspectBase<Base>, Base>
+{
+public:
+  /// Forwarding constructor
+  template <typename... Args>
+  EntityNodeBase(Args&&... args)
+    : common::CompositeJoiner<Base, EntityNodeAspectBase<Base>>(
+        common::NoArg, std::forward<Args>(args)...)
+  {
+    // Do nothing
+  }
+
+  virtual ~EntityNodeBase() = default;
+};
+
+} // namespace detail
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_DETAIL_ENTITYNODEASPECT_HPP_