dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/GenericJoint.hpp

@@ -0,0 +1,825 @@
+/*
+ * 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_GENERICJOINT_HPP_
+#define DART_DYNAMICS_GENERICJOINT_HPP_
+
+#include <dart/dynamics/detail/GenericJointAspect.hpp>
+
+#include <array>
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+class DegreeOfFreedom;
+
+template <class ConfigSpaceT>
+class GenericJoint
+  : public detail::GenericJointBase<GenericJoint<ConfigSpaceT>, ConfigSpaceT>
+{
+public:
+  static constexpr std::size_t NumDofs = ConfigSpaceT::NumDofs;
+
+  using ThisClass = GenericJoint<ConfigSpaceT>;
+  using Base = detail::GenericJointBase<ThisClass, ConfigSpaceT>;
+
+  using Point = typename ConfigSpaceT::Point;
+  using EuclideanPoint = typename ConfigSpaceT::EuclideanPoint;
+  using Vector = typename ConfigSpaceT::Vector;
+  using JacobianMatrix = typename ConfigSpaceT::JacobianMatrix;
+  using Matrix = typename ConfigSpaceT::Matrix;
+
+  using UniqueProperties = detail::GenericJointUniqueProperties<ConfigSpaceT>;
+  using Properties = detail::GenericJointProperties<ConfigSpaceT>;
+  using AspectState = typename Base::AspectState;
+  using AspectProperties = typename Base::AspectProperties;
+
+  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(
+      typename ThisClass::Aspect, GenericJointAspect)
+
+  GenericJoint(const ThisClass&) = delete;
+
+  /// Destructor
+  virtual ~GenericJoint();
+
+  /// Set the Properties of this GenericJoint
+  void setProperties(const Properties& properties);
+
+  /// Set the Properties of this GenericJoint
+  void setProperties(const UniqueProperties& properties);
+
+  /// Set the AspectState of this GenericJoint
+  void setAspectState(const AspectState& state);
+
+  /// Set the AspectProperties of this GenericJoint
+  void setAspectProperties(const AspectProperties& properties);
+
+  /// Get the Properties of this GenericJoint
+  Properties getGenericJointProperties() const;
+
+  /// Copy the Properties of another GenericJoint
+  void copy(const ThisClass& otherJoint);
+
+  /// Copy the Properties of another GenericJoint
+  void copy(const ThisClass* otherJoint);
+
+  /// Same as copy(const GenericJoint&)
+  ThisClass& operator=(const ThisClass& other);
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Interface for generalized coordinates
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  DegreeOfFreedom* getDof(std::size_t index) override;
+
+  // Documentation inherited
+  const DegreeOfFreedom* getDof(std::size_t _index) const override;
+
+  // Documentation inherited
+  std::size_t getNumDofs() const override;
+
+  // Documentation inherited
+  const std::string& setDofName(
+      std::size_t index,
+      const std::string& name,
+      bool preserveName = true) override;
+
+  // Documentation inherited
+  void preserveDofName(size_t index, bool preserve) override;
+
+  // Documentation inherited
+  bool isDofNamePreserved(size_t index) const override;
+
+  // Documentation inherited
+  const std::string& getDofName(size_t index) const override;
+
+  // Documentation inherited
+  size_t getIndexInSkeleton(size_t index) const override;
+
+  // Documentation inherited
+  size_t getIndexInTree(size_t index) const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Command
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setCommand(std::size_t index, double command) override;
+
+  // Documentation inherited
+  double getCommand(std::size_t index) const override;
+
+  // Documentation inherited
+  void setCommands(const Eigen::VectorXd& commands) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getCommands() const override;
+
+  // Documentation inherited
+  void resetCommands() override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Position
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setPosition(std::size_t index, double position) override;
+
+  // Documentation inherited
+  double getPosition(std::size_t index) const override;
+
+  // Documentation inherited
+  void setPositions(const Eigen::VectorXd& positions) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositions() const override;
+
+  // Documentation inherited
+  void setPositionLowerLimit(std::size_t index, double position) override;
+
+  // Documentation inherited
+  double getPositionLowerLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setPositionLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionLowerLimits() const override;
+
+  // Documentation inherited
+  void setPositionUpperLimit(std::size_t index, double position) override;
+
+  // Documentation inherited
+  double getPositionUpperLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setPositionUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionUpperLimits() const override;
+
+  // Documentation inherited
+  bool hasPositionLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void resetPosition(std::size_t index) override;
+
+  // Documentation inherited
+  void resetPositions() override;
+
+  // Documentation inherited
+  void setInitialPosition(std::size_t index, double initial) override;
+
+  // Documentation inherited
+  double getInitialPosition(std::size_t index) const override;
+
+  // Documentation inherited
+  void setInitialPositions(const Eigen::VectorXd& initial) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getInitialPositions() const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Fixed-size mutators and accessors
+  //----------------------------------------------------------------------------
+
+  // Note: The fixed-size versions of these functions exist to make it easier
+  // to comply with the auto-updating design. Use these functions to avoid
+  // accessing mPosition directly, that way it is easier to ensure that the
+  // auto-updating design assumptions are being satisfied when reviewing the
+  // code.
+
+  /// Fixed-size version of setPositions()
+  void setPositionsStatic(const Vector& positions);
+
+  /// Fixed-size version of getPositions()
+  const Vector& getPositionsStatic() const;
+
+  /// Fixed-size version of setVelocities()
+  void setVelocitiesStatic(const Vector& velocities);
+
+  /// Fixed-size version of getVelocities()
+  const Vector& getVelocitiesStatic() const;
+
+  /// Fixed-size version of setAccelerations()
+  void setAccelerationsStatic(const Vector& accels);
+
+  /// Fixed-size version of getAccelerations()
+  const Vector& getAccelerationsStatic() const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Velocity
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setVelocity(std::size_t index, double velocity) override;
+
+  // Documentation inherited
+  double getVelocity(std::size_t index) const override;
+
+  // Documentation inherited
+  void setVelocities(const Eigen::VectorXd& velocities) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocities() const override;
+
+  // Documentation inherited
+  void setVelocityLowerLimit(std::size_t index, double velocity) override;
+
+  // Documentation inherited
+  double getVelocityLowerLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setVelocityLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocityLowerLimits() const override;
+
+  // Documentation inherited
+  void setVelocityUpperLimit(std::size_t index, double velocity) override;
+
+  // Documentation inherited
+  double getVelocityUpperLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setVelocityUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocityUpperLimits() const override;
+
+  // Documentation inherited
+  void resetVelocity(std::size_t index) override;
+
+  // Documentation inherited
+  void resetVelocities() override;
+
+  // Documentation inherited
+  void setInitialVelocity(std::size_t index, double initial) override;
+
+  // Documentation inherited
+  double getInitialVelocity(std::size_t index) const override;
+
+  // Documentation inherited
+  void setInitialVelocities(const Eigen::VectorXd& initial) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getInitialVelocities() const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Acceleration
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setAcceleration(std::size_t index, double acceleration) override;
+
+  // Documentation inherited
+  double getAcceleration(std::size_t index) const override;
+
+  // Documentation inherited
+  void setAccelerations(const Eigen::VectorXd& accelerations) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerations() const override;
+
+  // Documentation inherited
+  void setAccelerationLowerLimit(size_t index, double acceleration) override;
+
+  // Documentation inherited
+  double getAccelerationLowerLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setAccelerationLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerationLowerLimits() const override;
+
+  // Documentation inherited
+  void setAccelerationUpperLimit(
+      std::size_t index, double acceleration) override;
+
+  // Documentation inherited
+  double getAccelerationUpperLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setAccelerationUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerationUpperLimits() const override;
+
+  // Documentation inherited
+  void resetAccelerations() override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Force
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setForce(std::size_t index, double force) override;
+
+  // Documentation inherited
+  double getForce(std::size_t index) const override;
+
+  // Documentation inherited
+  void setForces(const Eigen::VectorXd& forces) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForces() const override;
+
+  // Documentation inherited
+  void setForceLowerLimit(size_t index, double force) override;
+
+  // Documentation inherited
+  double getForceLowerLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setForceLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForceLowerLimits() const override;
+
+  // Documentation inherited
+  void setForceUpperLimit(size_t index, double force) override;
+
+  // Documentation inherited
+  double getForceUpperLimit(size_t index) const override;
+
+  // Documentation inherited
+  void setForceUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForceUpperLimits() const override;
+
+  // Documentation inherited
+  void resetForces() override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Velocity change
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setVelocityChange(std::size_t index, double velocityChange) override;
+
+  // Documentation inherited
+  double getVelocityChange(std::size_t index) const override;
+
+  // Documentation inherited
+  void resetVelocityChanges() override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Constraint impulse
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setConstraintImpulse(std::size_t index, double impulse) override;
+
+  // Documentation inherited
+  double getConstraintImpulse(std::size_t index) const override;
+
+  // Documentation inherited
+  void resetConstraintImpulses() override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Integration and finite difference
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void integratePositions(double dt) override;
+
+  // Documentation inherited
+  void integrateVelocities(double dt) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionDifferences(
+      const Eigen::VectorXd& q2, const Eigen::VectorXd& q1) const override;
+
+  /// Fixed-size version of getPositionDifferences()
+  virtual Vector getPositionDifferencesStatic(
+      const Vector& q2, const Vector& q1) const;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Passive forces - spring, viscous friction, Coulomb friction
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setSpringStiffness(std::size_t index, double k) override;
+
+  // Documentation inherited
+  double getSpringStiffness(std::size_t index) const override;
+
+  // Documentation inherited
+  void setRestPosition(std::size_t index, double q0) override;
+
+  // Documentation inherited
+  double getRestPosition(std::size_t index) const override;
+
+  // Documentation inherited
+  void setDampingCoefficient(std::size_t index, double coeff) override;
+
+  // Documentation inherited
+  double getDampingCoefficient(std::size_t index) const override;
+
+  // Documentation inherited
+  void setCoulombFriction(std::size_t index, double friction) override;
+
+  // Documentation inherited
+  double getCoulombFriction(std::size_t index) const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Energy
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  double computePotentialEnergy() const override;
+
+  /// \}
+
+  // Documentation inherited
+  Eigen::Vector6d getBodyConstraintWrench() const override;
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Jacobians
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  const math::Jacobian getRelativeJacobian() const override;
+
+  /// Fixed-size version of getRelativeJacobian()
+  const typename GenericJoint<ConfigSpaceT>::JacobianMatrix&
+  getRelativeJacobianStatic() const;
+
+  // Documentation inherited
+  math::Jacobian getRelativeJacobian(
+      const Eigen::VectorXd& _positions) const override;
+
+  /// Fixed-size version of getRelativeJacobian(positions)
+  virtual JacobianMatrix getRelativeJacobianStatic(
+      const Vector& positions) const = 0;
+
+  // Documentation inherited
+  const math::Jacobian getRelativeJacobianTimeDeriv() const override;
+
+  /// Fixed-size version of getRelativeJacobianTimeDeriv()
+  const JacobianMatrix& getRelativeJacobianTimeDerivStatic() const;
+
+  /// \}
+
+protected:
+  GenericJoint(const Properties& properties);
+
+  // Documentation inherited
+  void registerDofs() override;
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Recursive dynamics routines
+  //----------------------------------------------------------------------------
+
+  /// Get the inverse of the projected articulated inertia
+  const Matrix& getInvProjArtInertia() const;
+
+  /// Get the inverse of projected articulated inertia for implicit joint
+  /// damping and spring forces
+  const Matrix& getInvProjArtInertiaImplicit() const;
+
+  // Documentation inherited
+  void updateRelativeSpatialVelocity() const override;
+
+  // Documentation inherited
+  void updateRelativeSpatialAcceleration() const override;
+
+  // Documentation inherited
+  void updateRelativePrimaryAcceleration() const override;
+
+  // Documentation inherited
+  void addVelocityTo(Eigen::Vector6d& vel) override;
+
+  // Documentation inherited
+  void setPartialAccelerationTo(
+      Eigen::Vector6d& partialAcceleration,
+      const Eigen::Vector6d& childVelocity) override;
+
+  // Documentation inherited
+  void addAccelerationTo(Eigen::Vector6d& acc) override;
+
+  // Documentation inherited
+  void addVelocityChangeTo(Eigen::Vector6d& velocityChange) override;
+
+  // Documentation inherited
+  void addChildArtInertiaTo(
+      Eigen::Matrix6d& parentArtInertia,
+      const Eigen::Matrix6d& childArtInertia) override;
+
+  // Documentation inherited
+  void addChildArtInertiaImplicitTo(
+      Eigen::Matrix6d& parentArtInertiaImplicit,
+      const Eigen::Matrix6d& childArtInertiaImplicit) override;
+
+  // Documentation inherited
+  void updateInvProjArtInertia(const Eigen::Matrix6d& artInertia) override;
+
+  // Documentation inherited
+  void updateInvProjArtInertiaImplicit(
+      const Eigen::Matrix6d& artInertia, double timeStep) override;
+
+  // Documentation inherited
+  void addChildBiasForceTo(
+      Eigen::Vector6d& parentBiasForce,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasForce,
+      const Eigen::Vector6d& childPartialAcc) override;
+
+  // Documentation inherited
+  void addChildBiasImpulseTo(
+      Eigen::Vector6d& parentBiasImpulse,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasImpulse) override;
+
+  // Documentation inherited
+  void updateTotalForce(
+      const Eigen::Vector6d& bodyForce, double timeStep) override;
+
+  // Documentation inherited
+  void updateTotalImpulse(const Eigen::Vector6d& bodyImpulse) override;
+
+  // Documentation inherited
+  void resetTotalImpulses() override;
+
+  // Documentation inherited
+  void updateAcceleration(
+      const Eigen::Matrix6d& artInertia,
+      const Eigen::Vector6d& spatialAcc) override;
+
+  // Documentation inherited
+  void updateVelocityChange(
+      const Eigen::Matrix6d& artInertia,
+      const Eigen::Vector6d& velocityChange) override;
+
+  // Documentation inherited
+  void updateForceID(
+      const Eigen::Vector6d& bodyForce,
+      double timeStep,
+      bool withDampingForces,
+      bool withSpringForces) override;
+
+  // Documentation inherited
+  void updateForceFD(
+      const Eigen::Vector6d& bodyForce,
+      double timeStep,
+      bool withDampingForcese,
+      bool withSpringForces) override;
+
+  // Documentation inherited
+  void updateImpulseID(const Eigen::Vector6d& bodyImpulse) override;
+
+  // Documentation inherited
+  void updateImpulseFD(const Eigen::Vector6d& bodyImpulse) override;
+
+  // Documentation inherited
+  void updateConstrainedTerms(double timeStep) override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Recursive algorithm routines for equations of motion
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void addChildBiasForceForInvMassMatrix(
+      Eigen::Vector6d& parentBiasForce,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasForce) override;
+
+  // Documentation inherited
+  void addChildBiasForceForInvAugMassMatrix(
+      Eigen::Vector6d& parentBiasForce,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasForce) override;
+
+  // Documentation inherited
+  void updateTotalForceForInvMassMatrix(
+      const Eigen::Vector6d& bodyForce) override;
+
+  // Documentation inherited
+  void getInvMassMatrixSegment(
+      Eigen::MatrixXd& invMassMat,
+      const size_t col,
+      const Eigen::Matrix6d& artInertia,
+      const Eigen::Vector6d& spatialAcc) override;
+
+  // Documentation inherited
+  void getInvAugMassMatrixSegment(
+      Eigen::MatrixXd& invMassMat,
+      const size_t col,
+      const Eigen::Matrix6d& artInertia,
+      const Eigen::Vector6d& spatialAcc) override;
+
+  // Documentation inherited
+  void addInvMassMatrixSegmentTo(Eigen::Vector6d& acc) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getSpatialToGeneralized(
+      const Eigen::Vector6d& spatial) override;
+
+  /// \}
+
+protected:
+  /// Array of DegreeOfFreedom objects
+  std::array<DegreeOfFreedom*, NumDofs> mDofs;
+
+  //----------------------------------------------------------------------------
+  // Impulse
+  //----------------------------------------------------------------------------
+
+  /// Change of generalized velocity
+  Vector mVelocityChanges;
+
+  /// Generalized impulse
+  Vector mImpulses;
+
+  /// Generalized constraint impulse
+  Vector mConstraintImpulses;
+
+  //----------------------------------------------------------------------------
+  // For recursive dynamics algorithms
+  //----------------------------------------------------------------------------
+
+  /// Spatial Jacobian expressed in the child body frame
+  ///
+  /// Do not use directly! Use getRelativeJacobianStatic() to access this
+  /// quantity
+  mutable JacobianMatrix mJacobian;
+
+  /// Time derivative of spatial Jacobian expressed in the child body frame
+  ///
+  /// Do not use directly! Use getRelativeJacobianTimeDerivStatic() to access
+  /// this quantity
+  mutable JacobianMatrix mJacobianDeriv;
+
+  /// Inverse of projected articulated inertia
+  ///
+  /// Do not use directly! Use getInvProjArtInertia() to get this quantity
+  mutable Matrix mInvProjArtInertia;
+
+  /// Inverse of projected articulated inertia for implicit joint damping and
+  /// spring forces
+  ///
+  /// Do not use directly! Use getInvProjArtInertiaImplicit() to access this
+  /// quantity
+  mutable Matrix mInvProjArtInertiaImplicit;
+
+  /// Total force projected on joint space
+  Vector mTotalForce;
+
+  /// Total impluse projected on joint space
+  Vector mTotalImpulse;
+
+  //----------------------------------------------------------------------------
+  // For equations of motion
+  //----------------------------------------------------------------------------
+
+  ///
+  Vector mInvM_a;
+
+  ///
+  Vector mInvMassMatrixSegment;
+
+private:
+  //----------------------------------------------------------------------------
+  /// \{ \name Recursive dynamics routines
+  //----------------------------------------------------------------------------
+
+  void addChildArtInertiaToDynamic(
+      Eigen::Matrix6d& parentArtInertia,
+      const Eigen::Matrix6d& childArtInertia);
+
+  void addChildArtInertiaToKinematic(
+      Eigen::Matrix6d& parentArtInertia,
+      const Eigen::Matrix6d& childArtInertia);
+
+  void addChildArtInertiaImplicitToDynamic(
+      Eigen::Matrix6d& parentArtInertia,
+      const Eigen::Matrix6d& childArtInertia);
+
+  void addChildArtInertiaImplicitToKinematic(
+      Eigen::Matrix6d& parentArtInertia,
+      const Eigen::Matrix6d& childArtInertia);
+
+  void updateInvProjArtInertiaDynamic(const Eigen::Matrix6d& artInertia);
+
+  void updateInvProjArtInertiaKinematic(const Eigen::Matrix6d& artInertia);
+
+  void updateInvProjArtInertiaImplicitDynamic(
+      const Eigen::Matrix6d& artInertia, double timeStep);
+
+  void updateInvProjArtInertiaImplicitKinematic(
+      const Eigen::Matrix6d& artInertia, double timeStep);
+
+  void addChildBiasForceToDynamic(
+      Eigen::Vector6d& parentBiasForce,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasForce,
+      const Eigen::Vector6d& childPartialAcc);
+
+  void addChildBiasForceToKinematic(
+      Eigen::Vector6d& parentBiasForce,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasForce,
+      const Eigen::Vector6d& childPartialAcc);
+
+  void addChildBiasImpulseToDynamic(
+      Eigen::Vector6d& parentBiasImpulse,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasImpulse);
+
+  void addChildBiasImpulseToKinematic(
+      Eigen::Vector6d& parentBiasImpulse,
+      const Eigen::Matrix6d& childArtInertia,
+      const Eigen::Vector6d& childBiasImpulse);
+
+  void updateTotalForceDynamic(
+      const Eigen::Vector6d& bodyForce, double timeStep);
+
+  void updateTotalForceKinematic(
+      const Eigen::Vector6d& bodyForce, double timeStep);
+
+  void updateTotalImpulseDynamic(const Eigen::Vector6d& bodyImpulse);
+
+  void updateTotalImpulseKinematic(const Eigen::Vector6d& bodyImpulse);
+
+  void updateAccelerationDynamic(
+      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& spatialAcc);
+
+  void updateAccelerationKinematic(
+      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& spatialAcc);
+
+  void updateVelocityChangeDynamic(
+      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& velocityChange);
+
+  void updateVelocityChangeKinematic(
+      const Eigen::Matrix6d& artInertia, const Eigen::Vector6d& velocityChange);
+
+  void updateConstrainedTermsDynamic(double timeStep);
+
+  void updateConstrainedTermsKinematic(double timeStep);
+
+  /// \}
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#include <dart/dynamics/detail/GenericJoint.hpp>
+
+#endif // DART_DYNAMICS_GENERICJOINT_HPP_