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Added virtual destructors to joint properties. #391

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merged 1 commit into from
May 24, 2015
Merged

Added virtual destructors to joint properties. #391

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1 change: 1 addition & 0 deletions dart/dynamics/BallJoint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ class BallJoint : public MultiDofJoint<3>
{
Properties(const MultiDofJoint<3>::Properties& _properties =
MultiDofJoint<3>::Properties());
virtual ~Properties() = default;
};

/// Constructor
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4 changes: 4 additions & 0 deletions dart/dynamics/EulerJoint.h
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Expand Up @@ -65,6 +65,8 @@ class EulerJoint : public MultiDofJoint<3>

/// Constructor
UniqueProperties(AxisOrder _axisOrder = AO_XYZ);

virtual ~UniqueProperties() = default;
};

struct Properties : MultiDofJoint<3>::Properties, EulerJoint::UniqueProperties
Expand All @@ -75,6 +77,8 @@ class EulerJoint : public MultiDofJoint<3>
MultiDofJoint<3>::Properties(),
const EulerJoint::UniqueProperties& _eulerJointProperties =
EulerJoint::UniqueProperties());

virtual ~Properties() = default;
};

/// Constructor
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2 changes: 2 additions & 0 deletions dart/dynamics/FreeJoint.h
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Expand Up @@ -57,6 +57,8 @@ class FreeJoint : public MultiDofJoint<6>
{
Properties(const MultiDofJoint<6>::Properties& _properties =
MultiDofJoint<6>::Properties());

virtual ~Properties() = default;
};

/// Constructor
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4 changes: 4 additions & 0 deletions dart/dynamics/Joint.h
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Expand Up @@ -145,6 +145,8 @@ class Joint : public virtual common::Subject
Eigen::Isometry3d::Identity(),
bool _isPositionLimited = false,
ActuatorType _actuatorType = DefaultActuatorType);

virtual ~Properties() = default;
};

/// Default actuator type
Expand Down Expand Up @@ -912,6 +914,8 @@ class TemplateJointPtr

template<class, class> friend class TemplateJointPtr;

typedef JointT element_type;

/// Default constructor
TemplateJointPtr() = default;

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4 changes: 4 additions & 0 deletions dart/dynamics/MultiDofJoint.h
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Expand Up @@ -121,13 +121,17 @@ class MultiDofJoint : public Joint
const Vector& _restPosition = Vector::Constant(0.0),
const Vector& _dampingCoefficient = Vector::Constant(0.0),
const Vector& _coulombFrictions = Vector::Constant(0.0));

virtual ~UniqueProperties() = default;
};

struct Properties : Joint::Properties, UniqueProperties
{
Properties(
const Joint::Properties& _jointProperties = Joint::Properties(),
const UniqueProperties& _multiDofProperties = UniqueProperties());

virtual ~Properties() = default;
};

/// Constructor
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4 changes: 4 additions & 0 deletions dart/dynamics/PlanarJoint.h
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Expand Up @@ -95,6 +95,8 @@ class PlanarJoint : public MultiDofJoint<3>
UniqueProperties(const Eigen::Vector3d& _transAxis1,
const Eigen::Vector3d& _transAxis2);

virtual ~UniqueProperties() = default;

/// Set plane type as XY-plane
void setXYPlane();

Expand All @@ -115,6 +117,8 @@ class PlanarJoint : public MultiDofJoint<3>
MultiDofJoint<3>::Properties(),
const PlanarJoint::UniqueProperties& _planarProperties =
PlanarJoint::UniqueProperties());

virtual ~Properties() = default;
};

/// Constructor
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2 changes: 2 additions & 0 deletions dart/dynamics/PrismaticJoint.h
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Expand Up @@ -58,6 +58,7 @@ class PrismaticJoint : public SingleDofJoint
Eigen::Vector3d mAxis;

UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ());
virtual ~UniqueProperties() = default;
};

struct Properties : SingleDofJoint::Properties,
Expand All @@ -68,6 +69,7 @@ class PrismaticJoint : public SingleDofJoint
SingleDofJoint::Properties(),
const PrismaticJoint::UniqueProperties& _prismaticProperties =
PrismaticJoint::UniqueProperties());
virtual ~Properties() = default;
};

/// Constructor
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4 changes: 4 additions & 0 deletions dart/dynamics/RevoluteJoint.h
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Expand Up @@ -58,6 +58,8 @@ class RevoluteJoint : public SingleDofJoint
Eigen::Vector3d mAxis;

UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ());

virtual ~UniqueProperties() = default;
};

struct Properties : SingleDofJoint::Properties,
Expand All @@ -68,6 +70,8 @@ class RevoluteJoint : public SingleDofJoint
SingleDofJoint::Properties(),
const RevoluteJoint::UniqueProperties& _revoluteProperties =
RevoluteJoint::UniqueProperties());

virtual ~Properties() = default;
};

/// Constructor
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2 changes: 2 additions & 0 deletions dart/dynamics/ScrewJoint.h
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Expand Up @@ -63,6 +63,7 @@ class ScrewJoint : public SingleDofJoint

UniqueProperties(const Eigen::Vector3d& _axis = Eigen::Vector3d::UnitZ(),
double _pitch = 0.1);
virtual ~UniqueProperties() = default;
};

struct Properties : SingleDofJoint::Properties,
Expand All @@ -73,6 +74,7 @@ class ScrewJoint : public SingleDofJoint
SingleDofJoint::Properties(),
const ScrewJoint::UniqueProperties& _screwProperties =
ScrewJoint::UniqueProperties());
virtual ~Properties() = default;
};

/// Constructor
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4 changes: 4 additions & 0 deletions dart/dynamics/SingleDofJoint.h
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Expand Up @@ -112,13 +112,17 @@ class SingleDofJoint : public Joint
double _coulombFriction = 0.0,
bool _preserveDofName = false,
std::string _dofName = "");

virtual ~UniqueProperties() = default;
};

struct Properties : Joint::Properties, UniqueProperties
{
Properties(
const Joint::Properties& _jointProperties = Joint::Properties(),
const UniqueProperties& _singleDofProperties = UniqueProperties());

virtual ~Properties() = default;
};

/// Constructor
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1 change: 1 addition & 0 deletions dart/dynamics/TranslationalJoint.h
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Expand Up @@ -55,6 +55,7 @@ class TranslationalJoint : public MultiDofJoint<3>
{
Properties(const MultiDofJoint<3>::Properties& _properties =
MultiDofJoint<3>::Properties());
virtual ~Properties() = default;
};

/// Constructor
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3 changes: 3 additions & 0 deletions dart/dynamics/UniversalJoint.h
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Expand Up @@ -59,6 +59,8 @@ class UniversalJoint : public MultiDofJoint<2>

UniqueProperties(const Eigen::Vector3d& _axis1 = Eigen::Vector3d::UnitX(),
const Eigen::Vector3d& _axis2 = Eigen::Vector3d::UnitY());

virtual ~UniqueProperties() = default;
};

struct Properties : MultiDofJoint<2>::Properties,
Expand All @@ -68,6 +70,7 @@ class UniversalJoint : public MultiDofJoint<2>
MultiDofJoint<2>::Properties(),
const UniversalJoint::UniqueProperties& _universalProperties =
UniversalJoint::UniqueProperties());
virtual ~Properties() = default;
};

/// Constructor
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1 change: 1 addition & 0 deletions dart/dynamics/WeldJoint.h
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Expand Up @@ -56,6 +56,7 @@ class WeldJoint : public ZeroDofJoint
struct Properties : ZeroDofJoint::Properties
{
Properties(const Joint::Properties& _properties = Joint::Properties());
virtual ~Properties() = default;
};

/// Constructor
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1 change: 1 addition & 0 deletions dart/dynamics/ZeroDofJoint.h
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Expand Up @@ -55,6 +55,7 @@ class ZeroDofJoint : public Joint
struct Properties : Joint::Properties
{
Properties(const Joint::Properties& _properties = Joint::Properties());
virtual ~Properties() = default;
};

/// Constructor
Expand Down