ComponentExplanation.hpp

class Joint : public virtual ComponentManager
{
public: 
  
  struct Properties // First category of Properties
  {
    std::string mName;
    Eigen::Isometry3d mTransformFromParent;
    Eigen::Isometry3d mTransformFromChild;
    ActuatorType mActuatorType;
  };
  
  void setProperties(const Properties& properties)
  {
    // TODO: Set mProperties and trigger any flags that need to be dirtied
  }
  
  const Properties& getProperties() const
  {
    return mProperties;
  }
  
  // These using-declarations are placed here just to let you know that these functions 
  // exist in ComponentManager. They would not be needed in the actual implementation.
  using ComponentProperties = ComponentManager::Properties; // Second category of Properties
  using ComponentManager::setComponentProperties;
  using ComponentManager::getComponentProperties;
  
protected:

  Properties mProperties;
  
};