18 #ifndef _GAZEBO_DARTJOINT_HH_ 19 #define _GAZEBO_DARTJOINT_HH_ 21 #include <boost/any.hpp> 35 class DARTJointPrivate;
51 public:
virtual void Load(sdf::ElementPtr _sdf)
override;
54 public:
virtual void Init()
override;
57 public:
virtual void SetName(
const std::string &_name)
override;
60 public:
virtual void Reset()
override;
63 public:
virtual LinkPtr GetJointLink(
unsigned int _index)
const override;
66 public:
virtual bool AreConnected(
LinkPtr _one,
LinkPtr _two)
const 70 public:
virtual void Attach(
LinkPtr _parent,
LinkPtr _child)
override;
73 public:
virtual void Detach()
override;
76 public:
virtual void SetDamping(
unsigned int _index,
double _damping)
80 public:
virtual void SetStiffnessDamping(
unsigned int _index,
81 double _stiffness,
double _damping,
double _reference = 0)
override;
84 public:
virtual void SetStiffness(
unsigned int _index,
85 const double _stiffness)
override;
88 public:
virtual void SetAnchor(
const unsigned int ,
89 const ignition::math::Vector3d &)
override;
91 public:
virtual ignition::math::Vector3d Anchor(
92 const unsigned int )
const override final;
95 public:
virtual void SetVelocity(
unsigned int _index,
double _vel)
99 public:
virtual double GetVelocity(
unsigned int _index)
103 public:
virtual void SetForce(
unsigned int _index,
double _force)
107 public:
virtual double GetForce(
unsigned int _index)
override;
110 public:
virtual JointWrench GetForceTorque(
unsigned int _index)
override;
113 public:
virtual bool SetPosition(
114 const unsigned int _index,
115 const double _position,
116 const bool _preserveWorldVelocity =
false)
120 public:
virtual ignition::math::Vector3d LinkForce(
121 const unsigned int _index)
const override;
124 public:
virtual ignition::math::Vector3d LinkTorque(
125 const unsigned int _index)
const override;
128 public:
virtual bool SetParam(
const std::string &_key,
130 const boost::any &_value)
override;
133 public:
virtual double GetParam(
const std::string &_key,
134 unsigned int _index)
override;
137 public:
virtual double LowerLimit(
const unsigned int _index)
const 141 public:
virtual double UpperLimit(
const unsigned int _index)
const 145 public:
virtual void SetLowerLimit(
const unsigned int _index,
146 const double _limit)
override;
149 public:
virtual void SetUpperLimit(
const unsigned int _index,
150 const double _limit)
override;
153 public:
virtual void CacheForceTorque()
override;
156 protected:
virtual double PositionImpl(
const unsigned int _index = 0)
160 public:
virtual void ApplyDamping();
170 protected:
void SetForceImpl(
unsigned int _index,
double _force);
175 private:
void SaveForce(
unsigned int _index,
double _force);
186 public:
void SetDARTJoint(dart::dynamics::Joint *_dtJoint);
190 public: dart::dynamics::Joint *GetDARTJoint();
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< DARTModel > DARTModelPtr
Definition: DARTTypes.hh:46
std::shared_ptr< dart::dynamics::Joint::Properties > DARTJointPropPtr
Definition: DARTTypes.hh:56
Base class for all joints.
Definition: Joint.hh:50
Wrench information from a joint.
Definition: JointWrench.hh:40
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
DART joint interface.
Definition: DARTJoint.hh:41
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
DARTJointPrivate * dataPtr
Definition: DARTJoint.hh:194