ScrewJoint.hh

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/*
 * Copyright (C) 2012 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 _SCREWJOINT_HH_
#define _SCREWJOINT_HH_

#include "gazebo/physics/Joint.hh"
#include "gazebo/common/Console.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    template<class T>
    class GZ_PHYSICS_VISIBLE ScrewJoint : public T
    {
      public: explicit ScrewJoint(BasePtr _parent) : T(_parent), threadPitch(0)
              {this->AddType(Base::SCREW_JOINT);}

      public: virtual ~ScrewJoint()
              { }

      // Documentation inherited.
      public: virtual unsigned int DOF() const
              {return 2;}

      public: virtual void Load(sdf::ElementPtr _sdf)
                 {
                   T::Load(_sdf);

                   this->threadPitch =
                     _sdf->GetElement("thread_pitch")->Get<double>();
                 }

      public: virtual void SetThreadPitch(double _threadPitch) = 0;

      public: virtual double GetThreadPitch() = 0;

      // Documentation inherited
      public: virtual void FillMsg(msgs::Joint &_msg)
              {
                Joint::FillMsg(_msg);
                msgs::Joint::Screw *screwMsg = _msg.mutable_screw();
                screwMsg->set_thread_pitch(this->threadPitch);
              }

      protected: double threadPitch;

      protected: virtual void Init()
                 {
                   T::Init();
                 }
    };
  }
}
#endif