pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/physics/ScrewJoint.hh

99 lines
3.2 KiB
C++

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