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 Reset()
override;
60 public:
virtual LinkPtr GetJointLink(
unsigned int _index)
const override;
63 public:
virtual bool AreConnected(
LinkPtr _one,
LinkPtr _two)
const 67 public:
virtual void Attach(
LinkPtr _parent,
LinkPtr _child)
override;
70 public:
virtual void Detach()
override;
73 public:
virtual void SetDamping(
unsigned int _index,
double _damping)
77 public:
virtual void SetStiffnessDamping(
unsigned int _index,
78 double _stiffness,
double _damping,
double _reference = 0)
override;
81 public:
virtual void SetStiffness(
unsigned int _index,
82 const double _stiffness)
override;
85 public:
virtual void SetAnchor(
const unsigned int ,
86 const ignition::math::Vector3d &)
override;
88 public:
virtual ignition::math::Vector3d Anchor(
89 const unsigned int )
const override final;
92 public:
virtual void SetVelocity(
unsigned int _index,
double _vel)
96 public:
virtual double GetVelocity(
unsigned int _index)
100 public:
virtual void SetForce(
unsigned int _index,
double _force)
104 public:
virtual double GetForce(
unsigned int _index)
override;
107 public:
virtual JointWrench GetForceTorque(
unsigned int _index)
override;
110 public:
virtual bool SetPosition(
111 const unsigned int _index,
112 const double _position,
113 const bool _preserveWorldVelocity =
false)
117 public:
virtual ignition::math::Vector3d LinkForce(
118 const unsigned int _index)
const override;
121 public:
virtual ignition::math::Vector3d LinkTorque(
122 const unsigned int _index)
const override;
125 public:
virtual bool SetParam(
const std::string &_key,
127 const boost::any &_value)
override;
130 public:
virtual double GetParam(
const std::string &_key,
131 unsigned int _index)
override;
134 public:
virtual double LowerLimit(
const unsigned int _index)
const 138 public:
virtual double UpperLimit(
const unsigned int _index)
const 142 public:
virtual void SetLowerLimit(
const unsigned int _index,
143 const double _limit)
override;
146 public:
virtual void SetUpperLimit(
const unsigned int _index,
147 const double _limit)
override;
150 public:
virtual void CacheForceTorque()
override;
153 protected:
virtual double PositionImpl(
const unsigned int _index = 0)
157 public:
virtual void ApplyDamping();
167 protected:
void SetForceImpl(
unsigned int _index,
double _force);
172 private:
void SaveForce(
unsigned int _index,
double _force);
183 public:
void SetDARTJoint(dart::dynamics::Joint *_dtJoint);
187 public: dart::dynamics::Joint *GetDARTJoint();
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
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:77
DARTJointPrivate * dataPtr
Definition: DARTJoint.hh:191