99 lines
3.2 KiB
C++
99 lines
3.2 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SCREWJOINT_HH_
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#define _SCREWJOINT_HH_
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#include "gazebo/physics/Joint.hh"
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#include "gazebo/common/Console.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class ScrewJoint ScrewJoint.hh physics/physics.hh
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/// \brief A screw joint, which has both prismatic and rotational DOFs
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template<class T>
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class GZ_PHYSICS_VISIBLE ScrewJoint : public T
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent of the joint.
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public: explicit ScrewJoint(BasePtr _parent) : T(_parent), threadPitch(0)
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{this->AddType(Base::SCREW_JOINT);}
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/// \brief Destructor.
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public: virtual ~ScrewJoint()
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{ }
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// Documentation inherited.
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public: virtual unsigned int GetAngleCount() const
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{return 2;}
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/// \brief Load a ScrewJoint.
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/// \param[in] _sdf SDF value to load from
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public: virtual void Load(sdf::ElementPtr _sdf)
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{
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T::Load(_sdf);
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this->threadPitch =
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_sdf->GetElement("thread_pitch")->Get<double>();
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}
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/// \brief Set screw joint thread pitch.
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/// Thread Pitch is defined as angular motion per linear
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/// motion or rad / m in metric.
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/// This must be implemented in a child class
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/// To clarify direction, these are modeling right handed threads
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/// with positive thread_pitch, i.e. the child Link is the nut
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/// (interior threads) while the parent Link is the bolt/screw
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/// (exterior threads).
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/// \param[in] _threadPitch Thread pitch value.
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public: virtual void SetThreadPitch(double _threadPitch) = 0;
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/// \brief Get screw joint thread pitch.
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/// Thread Pitch is defined as angular motion per linear
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/// motion or rad / m in metric.
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/// This must be implemented in a child class
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/// \return _threadPitch Thread pitch value.
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public: virtual double GetThreadPitch() = 0;
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// Documentation inherited
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public: virtual void FillMsg(msgs::Joint &_msg)
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{
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Joint::FillMsg(_msg);
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msgs::Joint::Screw *screwMsg = _msg.mutable_screw();
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screwMsg->set_thread_pitch(this->threadPitch);
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}
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/// \brief Pitch of the thread.
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protected: double threadPitch;
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/// \brief Initialize joint
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protected: virtual void Init()
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{
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T::Init();
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}
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};
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/// \}
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}
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}
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#endif
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