DARTScrewJoint.hh
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1 /*
2  * Copyright (C) 2014-2015 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
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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
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16 */
17 
18 #ifndef _GAZEBO_DARTSCREWJOINT_HH_
19 #define _GAZEBO_DARTSCREWJOINT_HH_
20 
21 #include <string>
22 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
32  class GAZEBO_VISIBLE DARTScrewJoint : public ScrewJoint<DARTJoint>
33  {
36  public: DARTScrewJoint(BasePtr _parent);
37 
39  public: virtual ~DARTScrewJoint();
40 
41  // Documentation inherited.
42  public: virtual void Load(sdf::ElementPtr _sdf);
43 
44  // Documentation inherited
45  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
46 
47  // Documentation inherited
48  public: virtual void SetAnchor(unsigned int _index,
49  const math::Vector3 &_anchor);
50 
51  // Documentation inherited.
52  public: virtual void Init();
53 
54  // Documentation inherited
55  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
56 
57  // Documentation inherited
58  public: virtual void SetAxis(unsigned int _index,
59  const math::Vector3 &_axis);
60 
62  public: virtual void SetThreadPitch(unsigned int _index,
63  double _threadPitch);
64 
66  public: virtual void SetThreadPitch(double _threadPitch);
67 
69  public: virtual double GetThreadPitch(unsigned int _index);
70 
72  public: virtual double GetThreadPitch();
73 
74  // Documentation inherited
75  public: virtual double GetParam(const std::string &_key,
76  unsigned int _index);
77 
78  // Documentation inherited
79  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
80 
81  // Documentation inherited
82  public: virtual double GetVelocity(unsigned int _index) const;
83 
84  // Documentation inherited
85  public: virtual void SetVelocity(unsigned int _index, double _vel);
86 
87  // Documentation inherited
88  public: virtual void SetMaxForce(unsigned int _index, double _force);
89 
90  // Documentation inherited
91  public: virtual double GetMaxForce(unsigned int _index);
92 
93  // Documentation inherited.
94  public: virtual math::Angle GetHighStop(unsigned int _index);
95 
96  // Documentation inherited.
97  public: virtual math::Angle GetLowStop(unsigned int _index);
98 
99  // Documentation inherited.
100  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
101 
103  protected: dart::dynamics::ScrewJoint *dartScrewJoint;
104  };
105  }
106 }
107 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
dart::dynamics::ScrewJoint * dartScrewJoint
Universal joint of DART.
Definition: DARTScrewJoint.hh:103
A screw joint.
Definition: DARTScrewJoint.hh:32
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:34
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48