87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
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/*
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* Copyright (C) 2015 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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#include "gazebo/common/Assert.hh"
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#include "gazebo/common/Console.hh"
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#include "gazebo/common/Exception.hh"
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#include "gazebo/physics/Model.hh"
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#include "gazebo/physics/simbody/SimbodyLink.hh"
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#include "gazebo/physics/simbody/SimbodyPhysics.hh"
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#include "gazebo/physics/simbody/SimbodyFixedJoint.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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SimbodyFixedJoint::SimbodyFixedJoint(SimTK::MultibodySystem */*_world*/,
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BasePtr _parent)
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: FixedJoint<SimbodyJoint>(_parent)
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{
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this->physicsInitialized = false;
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}
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//////////////////////////////////////////////////
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SimbodyFixedJoint::~SimbodyFixedJoint()
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{
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}
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//////////////////////////////////////////////////
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void SimbodyFixedJoint::Load(sdf::ElementPtr _sdf)
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{
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FixedJoint<SimbodyJoint>::Load(_sdf);
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}
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//////////////////////////////////////////////////
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void SimbodyFixedJoint::SetVelocity(unsigned int /*_index*/, double /*_angle*/)
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{
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gzwarn << "SimbodyFixedJoint: called method "
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<< "SetVelocity that is not valid for joints of type fixed.\n";
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}
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//////////////////////////////////////////////////
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double SimbodyFixedJoint::GetVelocity(unsigned int /*index*/) const
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{
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gzwarn << "SimbodyFixedJoint: called method "
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<< "GetVelocity that is not valid for joints of type fixed.\n";
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return 0.0;
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}
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//////////////////////////////////////////////////
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void SimbodyFixedJoint::SetForceImpl(unsigned int /*_index*/,
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double /*_torque*/)
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{
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gzwarn << "SimbodyFixedJoint: called method "
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<< "SetForceImpl that is not valid for joints of type fixed.\n";
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}
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//////////////////////////////////////////////////
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math::Vector3 SimbodyFixedJoint::GetGlobalAxis(unsigned int /*index*/) const
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{
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gzwarn << "SimbodyFixedJoint: called method "
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<< "GetGlobalAxis that is not valid for joints of type fixed.\n";
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return math::Vector3();
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}
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//////////////////////////////////////////////////
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math::Angle SimbodyFixedJoint::GetAngleImpl(unsigned int /*_index*/) const
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{
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gzwarn << "SimbodyFixedJoint: called method "
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<< "GetAngleImpl that is not valid for joints of type fixed.\n";
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return math::Angle();
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}
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