DARTScrewJoint.hh
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1 /*
2  * Copyright (C) 2014-2016 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.
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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  {
33 
35  class GZ_PHYSICS_VISIBLE DARTScrewJoint : public ScrewJoint<DARTJoint>
36  {
39  public: DARTScrewJoint(BasePtr _parent);
40 
42  public: virtual ~DARTScrewJoint();
43 
44  // Documentation inherited.
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited
48  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
49 
50  // Documentation inherited
51  public: virtual void SetAnchor(unsigned int _index,
52  const math::Vector3 &_anchor);
53 
54  // Documentation inherited.
55  public: virtual void Init();
56 
57  // Documentation inherited
58  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
59 
60  // Documentation inherited
61  public: virtual void SetAxis(unsigned int _index,
62  const math::Vector3 &_axis);
63 
65  public: virtual void SetThreadPitch(unsigned int _index,
66  double _threadPitch);
67 
69  public: virtual void SetThreadPitch(double _threadPitch);
70 
72  public: virtual double GetThreadPitch(unsigned int _index);
73 
75  public: virtual double GetThreadPitch();
76 
77  // Documentation inherited
78  public: virtual double GetParam(const std::string &_key,
79  unsigned int _index);
80 
81  // Documentation inherited
82  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
83 
84  // Documentation inherited
85  public: virtual double GetVelocity(unsigned int _index) const;
86 
87  // Documentation inherited
88  public: virtual void SetVelocity(unsigned int _index, double _vel);
89 
90  // Documentation inherited.
91  public: virtual math::Angle GetHighStop(unsigned int _index);
92 
93  // Documentation inherited.
94  public: virtual math::Angle GetLowStop(unsigned int _index);
95 
96  // Documentation inherited.
97  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
98  };
100  }
101 }
102 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A screw joint.
Definition: DARTScrewJoint.hh:35
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:53
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72