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DARTScrewJoint.hh
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/*
* Copyright (C) 2014 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_DARTSCREWJOINT_HH_
#define _GAZEBO_DARTSCREWJOINT_HH_
#include <string>
#include "gazebo/physics/ScrewJoint.hh"
#include "gazebo/physics/dart/DARTJoint.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE DARTScrewJoint : public ScrewJoint<DARTJoint>
{
public: explicit DARTScrewJoint(BasePtr _parent);
public: virtual ~DARTScrewJoint();
// Documentation inherited.
public: virtual void Load(sdf::ElementPtr _sdf) override;
// Documentation inherited.
public: virtual void Init() override;
// Documentation inherited
public: virtual double GetVelocity(unsigned int _index) const override;
// Documentation inherited
public: virtual ignition::math::Vector3d GlobalAxis(
const unsigned int _index) const override;
// Documentation inherited
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis) override;
public: virtual void SetThreadPitch(unsigned int _index,
double _threadPitch);
public: virtual void SetThreadPitch(double _threadPitch) override;
public: virtual double GetThreadPitch(unsigned int _index);
public: virtual double GetThreadPitch() override;
// Documentation inherited
public: virtual double GetParam(const std::string &_key,
unsigned int _index) override;
// Documentation inherited
public: virtual bool SetParam(const std::string &_key,
unsigned int _index,
const boost::any &_value) override;
public: virtual double PositionImpl(
const unsigned int _index = 0) const override;
};
}
}
#endif
gazebo::physics::ScrewJoint
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:35
gazebo::physics::DARTScrewJoint::Init
virtual void Init() override
Initialize joint.
gazebo::physics::DARTScrewJoint::GetParam
virtual double GetParam(const std::string &_key, unsigned int _index) override
Get a non-generic parameter for the joint.
gazebo::physics::DARTScrewJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const override
Get the axis of rotation in global cooridnate frame.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::DARTScrewJoint::DARTScrewJoint
DARTScrewJoint(BasePtr _parent)
Constructor.
gazebo::physics::DARTScrewJoint::GetVelocity
virtual double GetVelocity(unsigned int _index) const override
Get the rotation rate of an axis(index)
gazebo::physics::DARTScrewJoint::~DARTScrewJoint
virtual ~DARTScrewJoint()
Destructor.
system.hh
gazebo::physics::DARTScrewJoint::PositionImpl
virtual double PositionImpl(const unsigned int _index=0) const override
Helper function to get the position of an axis.
gazebo::physics::DARTScrewJoint
A screw joint.
Definition: DARTScrewJoint.hh:35
gazebo::physics::DARTScrewJoint::SetParam
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value) override
Set a non-generic parameter for the joint.
gazebo::physics::DARTScrewJoint::GetThreadPitch
virtual double GetThreadPitch() override
Get screw joint thread pitch.
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::physics::DARTScrewJoint::SetThreadPitch
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
Set screw joint thread pitch.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
DARTJoint.hh
ScrewJoint.hh
gazebo::physics::DARTScrewJoint::SetAxis
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis) override
Set the axis of rotation where axis is specified in local joint frame.
gazebo::physics::DARTScrewJoint::Load
virtual void Load(sdf::ElementPtr _sdf) override
Load a ScrewJoint.