/*
 * Copyright (c) 2011-2022, The DART development contributors
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#ifndef DART_UTILS_MJCF_DETAIL_WELD_HPP_
#define DART_UTILS_MJCF_DETAIL_WELD_HPP_

#include <tinyxml2.h>

#include "dart/utils/mjcf/detail/Default.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/WeldAttributes.hpp"

namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {

class Weld final
{
public:
  Weld() = default;

  const std::string& getName() const;
  bool getActive() const;
  const Eigen::Vector2d& getSolRef() const;
  const Eigen::Matrix<double, 5, 1>& getSolImp() const;
  const std::string& getBody1() const;
  const std::string& getBody2() const;
  const std::optional<Eigen::Isometry3d>& getRelativeTransform() const;

private:
  // Private memebers used by MujocoModel class
  friend class Equality;
  Errors read(tinyxml2::XMLElement* element, const Defaults& defaults);

private:
  WeldAttributes mAttributes;

  std::string mName;
  bool mActive{true};
  Eigen::Vector2d mSolRef;
  Eigen::Matrix<double, 5, 1> mSolImp;
  std::string mBody1;
  std::string mBody2;
  bool mUsePredefinedRelativeTransform{true};
  // Relative transform from body1 to body2
  std::optional<Eigen::Isometry3d> mRelativeTransfrom;
};

} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart

#endif // #ifndef DART_UTILS_MJCF_DETAIL_WELD_HPP_
