GearboxJoint.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _GEARBOXJOINT_HH_
19#define _GEARBOXJOINT_HH_
20
21#include <string>
22
23#include "gazebo/msgs/msgs.hh"
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
32
35 template<class T>
36 class GZ_PHYSICS_VISIBLE GearboxJoint : public T
37 {
40 public: explicit GearboxJoint(BasePtr _parent)
41 : T(_parent), gearRatio(1.0)
42 { this->AddType(Base::GEARBOX_JOINT); }
44 public: virtual ~GearboxJoint()
45 { }
46
47 // Documentation inherited.
48 public: virtual unsigned int DOF() const
49 {return 2;}
50
53 public: virtual void Load(sdf::ElementPtr _sdf)
54 {
55 T::Load(_sdf);
56 if (_sdf->HasElement("gearbox_ratio"))
57 {
58 this->gearRatio =
59 _sdf->Get<double>("gearbox_ratio");
60 }
61 else
62 {
63 gzerr << "gearbox_ratio_not_specified, set to 1.\n";
64 this->gearRatio = 1.0;
65 /* below should bring in default values for sdf 1.4+
66 this->gearRatio =
67 _sdf->Get<double>("gearbox_ratio");
68 */
69 }
70
71 if (_sdf->HasElement("gearbox_reference_body"))
72 {
73 this->referenceBody =
74 _sdf->Get<std::string>("gearbox_reference_body");
75 }
76 else
77 {
78 gzerr << "Gearbox joint missing reference body.\n";
79 }
80 }
81
83 protected: virtual void Init()
84 {
85 T::Init();
86 }
87
90 public: virtual double GetGearboxRatio() const
91 { return this->gearRatio; }
92
98 public: virtual void SetGearboxRatio(double _gearRatio) = 0;
99
100 // Documentation inherited
101 public: virtual void FillMsg(msgs::Joint &_msg)
102 {
103 Joint::FillMsg(_msg);
104 msgs::Joint::Gearbox *gearboxMsg = _msg.mutable_gearbox();
105 gearboxMsg->set_gearbox_reference_body(this->referenceBody);
106 gearboxMsg->set_gearbox_ratio(this->gearRatio);
107 }
108
110 protected: double gearRatio;
111
113 protected: std::string referenceBody;
114 };
116 }
117}
118#endif
@ GEARBOX_JOINT
GearboxJoint type.
Definition Base.hh:106
A double axis gearbox joint.
Definition GearboxJoint.hh:37
std::string referenceBody
reference link/body for computing joint angles
Definition GearboxJoint.hh:113
double gearRatio
Gearbox gearRatio.
Definition GearboxJoint.hh:110
virtual ~GearboxJoint()
Destructor.
Definition GearboxJoint.hh:44
virtual void Init()
Initialize joint.
Definition GearboxJoint.hh:83
GearboxJoint(BasePtr _parent)
Constructor.
Definition GearboxJoint.hh:40
virtual double GetGearboxRatio() const
Get gearbox joint gear ratio.
Definition GearboxJoint.hh:90
virtual void SetGearboxRatio(double _gearRatio)=0
Set gearbox joint gear ratio.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
Definition GearboxJoint.hh:53
virtual void FillMsg(msgs::Joint &_msg)
Definition GearboxJoint.hh:101
virtual unsigned int DOF() const
Definition GearboxJoint.hh:48
virtual void FillMsg(msgs::Joint &_msg)
Fill a joint message.
#define gzerr
Output an error message.
Definition Console.hh:50
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27