70 lines
2.2 KiB
C++
70 lines
2.2 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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#ifndef _GAZEBO_DARTJOINT_PRIVATE_HH_
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#define _GAZEBO_DARTJOINT_PRIVATE_HH_
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#include "gazebo/common/Time.hh"
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#include "gazebo/physics/Joint.hh"
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#include "gazebo/physics/dart/dart_inc.h"
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#include "gazebo/physics/dart/DARTTypes.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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/// \internal
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/// \brief Private data class for DARTJoint
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class DARTJointPrivate
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{
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/// \brief Constructor
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public: DARTJointPrivate(const DARTPhysicsPtr &_dartPhysicsEngine)
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: forceApplied {0.0, 0.0},
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forceAppliedTime(),
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dartPhysicsEngine(_dartPhysicsEngine),
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dtJoint(NULL),
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dtChildBodyNode(NULL)
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{
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}
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/// \brief Default destructor
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public: ~DARTJointPrivate() = default;
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/// \brief Save force applied by user
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/// This plus the joint feedback (joint contstraint forces) is the
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/// equivalent of simulated force torque sensor reading
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/// Allocate a 2 vector in case hinge2 joint is used.
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/// This is used by DART to store external force applied by the user.
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public: double forceApplied[MAX_JOINT_AXIS];
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/// \brief Save time at which force is applied by user
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/// This will let us know if it's time to clean up forceApplied.
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public: common::Time forceAppliedTime;
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/// \brief DARTPhysics engine pointer
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public: DARTPhysicsPtr dartPhysicsEngine;
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/// \brief DART joint pointer
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public: dart::dynamics::Joint *dtJoint;
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/// \brief DART child body node pointer
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public: dart::dynamics::BodyNode *dtChildBodyNode;
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};
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}
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}
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#endif
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