112 lines
3.4 KiB
C++
112 lines
3.4 KiB
C++
/*
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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 <boost/bind.hpp>
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#include "gazebo/gazebo_config.h"
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#include "gazebo/common/Console.hh"
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#include "gazebo/physics/Link.hh"
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#include "gazebo/physics/dart/DARTJointPrivate.hh"
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#include "gazebo/physics/dart/DARTFixedJoint.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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DARTFixedJoint::DARTFixedJoint(BasePtr _parent)
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: FixedJoint<DARTJoint>(_parent)
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{
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this->dataPtr->dtJoint = new dart::dynamics::WeldJoint();
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}
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//////////////////////////////////////////////////
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DARTFixedJoint::~DARTFixedJoint()
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{
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// We don't need to delete dtJoint because the world will delete it
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}
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//////////////////////////////////////////////////
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void DARTFixedJoint::Load(sdf::ElementPtr _sdf)
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{
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FixedJoint<DARTJoint>::Load(_sdf);
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}
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//////////////////////////////////////////////////
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void DARTFixedJoint::Init()
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{
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FixedJoint<DARTJoint>::Init();
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}
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//////////////////////////////////////////////////
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math::Vector3 DARTFixedJoint::GetAnchor(unsigned int /*index*/) const
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{
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Eigen::Isometry3d T = this->dataPtr->dtChildBodyNode->getTransform() *
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this->dataPtr->dtJoint->getTransformFromChildBodyNode();
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Eigen::Vector3d worldOrigin = T.translation();
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return DARTTypes::ConvVec3(worldOrigin);
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}
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//////////////////////////////////////////////////
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math::Vector3 DARTFixedJoint::GetGlobalAxis(unsigned int /*_index*/) const
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{
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gzwarn << "DARTFixedJoint: 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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void DARTFixedJoint::SetAxis(unsigned int /*_index*/,
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const math::Vector3& /*_axis*/)
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{
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gzwarn << "DARTFixedJoint: called method "
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<< "SetAxis that is not valid for joints of type fixed.\n";
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return;
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}
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//////////////////////////////////////////////////
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math::Angle DARTFixedJoint::GetAngleImpl(unsigned int /*_index*/) const
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{
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gzwarn << "DARTFixedJoint: 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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//////////////////////////////////////////////////
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void DARTFixedJoint::SetVelocity(unsigned int /*_index*/, double /*_vel*/)
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{
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gzwarn << "DARTFixedJoint: called method "
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<< "SetVelocity that is not valid for joints of type fixed.\n";
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return;
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}
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//////////////////////////////////////////////////
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double DARTFixedJoint::GetVelocity(unsigned int /*_index*/) const
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{
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gzwarn << "DARTFixedJoint: 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 DARTFixedJoint::SetForceImpl(unsigned int /*_index*/, double /*_effort*/)
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{
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gzwarn << "DARTFixedJoint: 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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