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ScrewJoint.hh
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1 /*
2  * Copyright (C) 2012-2014 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 /* Desc: A screw or primastic/rotational joint
18  * Author: Nate Koenig, John Hsu
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _SCREWJOINT_HH_
23 #define _SCREWJOINT_HH_
24 
25 #include "gazebo/physics/Joint.hh"
26 #include "gazebo/common/Console.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
38  template<class T>
39  class GAZEBO_VISIBLE ScrewJoint : public T
40  {
43  public: explicit ScrewJoint(BasePtr _parent) : T(_parent), threadPitch(0)
44  {this->AddType(Base::SCREW_JOINT);}
45 
47  public: virtual ~ScrewJoint()
48  { }
49 
50  // Documentation inherited.
51  public: virtual unsigned int GetAngleCount() const
52  {return 2;}
53 
56  public: virtual void Load(sdf::ElementPtr _sdf)
57  {
58  T::Load(_sdf);
59 
60  this->threadPitch =
61  _sdf->GetElement("thread_pitch")->Get<double>();
62  }
63 
72  public: virtual void SetThreadPitch(unsigned int _index,
73  double _threadPitch) GAZEBO_DEPRECATED(3.0) = 0;
74 
84  public: virtual void SetThreadPitch(double _threadPitch) = 0;
85 
92  public: virtual double GetThreadPitch(unsigned int _index)
93  GAZEBO_DEPRECATED(3.0) = 0;
94 
100  public: virtual double GetThreadPitch() = 0;
101 
103  protected: double threadPitch;
104 
106  protected: virtual void Init()
107  {
108  T::Init();
109  }
110  };
112  }
113 }
114 #endif