DARTJointPrivate.hh
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1 /*
2  * Copyright (C) 2015-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTJOINT_PRIVATE_HH_
19 #define _GAZEBO_DARTJOINT_PRIVATE_HH_
20 
21 #include "gazebo/common/Time.hh"
22 #include "gazebo/physics/Joint.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33  {
35  public: DARTJointPrivate(const DARTPhysicsPtr &_dartPhysicsEngine)
36  : forceApplied {0.0, 0.0},
38  dartPhysicsEngine(_dartPhysicsEngine),
39  dtJoint(NULL),
41  {
42  }
43 
45  public: ~DARTJointPrivate() = default;
46 
52  public: double forceApplied[MAX_JOINT_AXIS];
53 
57 
60 
62  public: dart::dynamics::Joint *dtJoint;
63 
65  public: dart::dynamics::BodyNode *dtChildBodyNode;
66  };
67  }
68 }
69 #endif
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:41
common::Time forceAppliedTime
Save time at which force is applied by user This will let us know if it's time to clean up forceAppli...
Definition: DARTJointPrivate.hh:56
DARTPhysicsPtr dartPhysicsEngine
DARTPhysics engine pointer.
Definition: DARTJointPrivate.hh:59
DART wrapper forward declarations and typedefs.
#define MAX_JOINT_AXIS
maximum number of axis per joint anticipated.
Definition: Joint.hh:39
~DARTJointPrivate()=default
Default destructor.
dart::dynamics::Joint * dtJoint
DART joint pointer.
Definition: DARTJointPrivate.hh:62
#define NULL
Definition: CommonTypes.hh:31
dart::dynamics::BodyNode * dtChildBodyNode
DART child body node pointer.
Definition: DARTJointPrivate.hh:65
double forceApplied[MAX_JOINT_AXIS]
Save force applied by user This plus the joint feedback (joint contstraint forces) is the equivalent ...
Definition: DARTJointPrivate.hh:52
Definition: DARTJointPrivate.hh:32
DARTJointPrivate(const DARTPhysicsPtr &_dartPhysicsEngine)
Constructor.
Definition: DARTJointPrivate.hh:35
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44