DARTScrewJoint.hh
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1/*
2 * Copyright (C) 2014 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 _GAZEBO_DARTSCREWJOINT_HH_
19#define _GAZEBO_DARTSCREWJOINT_HH_
20
21#include <string>
22
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
33
35 class GZ_PHYSICS_VISIBLE DARTScrewJoint : public ScrewJoint<DARTJoint>
36 {
39 public: explicit DARTScrewJoint(BasePtr _parent);
40
42 public: virtual ~DARTScrewJoint();
43
44 // Documentation inherited.
45 public: virtual void Load(sdf::ElementPtr _sdf) override;
46
47 // Documentation inherited.
48 public: virtual void Init() override;
49
50 // Documentation inherited
51 public: virtual double GetVelocity(unsigned int _index) const override;
52
53 // Documentation inherited
54 public: virtual ignition::math::Vector3d GlobalAxis(
55 const unsigned int _index) const override;
56
57 // Documentation inherited
58 public: virtual void SetAxis(const unsigned int _index,
59 const ignition::math::Vector3d &_axis) override;
60
62 public: virtual void SetThreadPitch(unsigned int _index,
63 double _threadPitch);
64
66 public: virtual void SetThreadPitch(double _threadPitch) override;
67
69 public: virtual double GetThreadPitch(unsigned int _index);
70
72 public: virtual double GetThreadPitch() override;
73
74 // Documentation inherited
75 public: virtual double GetParam(const std::string &_key,
76 unsigned int _index) override;
77
78 // Documentation inherited
79 public: virtual bool SetParam(const std::string &_key,
80 unsigned int _index,
81 const boost::any &_value) override;
82
83 public: virtual double PositionImpl(
84 const unsigned int _index = 0) const override;
85 };
87 }
88}
89#endif
A screw joint.
Definition DARTScrewJoint.hh:36
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.
virtual void SetThreadPitch(double _threadPitch) override
Set screw joint thread pitch.
virtual double GetThreadPitch() override
Get screw joint thread pitch.
virtual double PositionImpl(const unsigned int _index=0) const override
Helper function to get the position of an axis.
virtual double GetVelocity(unsigned int _index) const override
Get the rotation rate of an axis(index)
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const override
Get the axis of rotation in global cooridnate frame.
virtual double GetThreadPitch(unsigned int _index)
Get screw joint thread pitch.
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
Set screw joint thread pitch.
virtual ~DARTScrewJoint()
Destructor.
virtual double GetParam(const std::string &_key, unsigned int _index) override
Get a non-generic parameter for the joint.
virtual void Init() override
Initialize joint.
virtual void Load(sdf::ElementPtr _sdf) override
Load a ScrewJoint.
DARTScrewJoint(BasePtr _parent)
Constructor.
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value) override
Set a non-generic parameter for the joint.
A screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27