126 lines
3.8 KiB
C++
126 lines
3.8 KiB
C++
/*
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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 _GEARBOXJOINT_HH_
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#define _GEARBOXJOINT_HH_
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <string>
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#include "gazebo/math/Angle.hh"
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#include "gazebo/math/Vector3.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 GearboxJoint GearboxJoint.hh physics/physics.hh
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/// \brief A double axis gearbox joint
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template<class T>
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class GZ_PHYSICS_VISIBLE GearboxJoint : public T
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{
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/// \brief Constructor
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/// \param[in] _parent Parent link
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public: GearboxJoint(BasePtr _parent) : T(_parent), gearRatio(1.0)
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{ this->AddType(Base::GEARBOX_JOINT); }
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/// \brief Destructor
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public: virtual ~GearboxJoint()
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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 joint
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/// \param[in] _sdf Pointer to SDF element
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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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if (_sdf->HasElement("gearbox_ratio"))
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{
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this->gearRatio =
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_sdf->Get<double>("gearbox_ratio");
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}
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else
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{
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gzerr << "gearbox_ratio_not_specified, set to 1.\n";
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this->gearRatio = 1.0;
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/* below should bring in default values for sdf 1.4+
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this->gearRatio =
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_sdf->Get<double>("gearbox_ratio");
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*/
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}
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if (_sdf->HasElement("gearbox_reference_body"))
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{
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this->referenceBody =
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_sdf->Get<std::string>("gearbox_reference_body");
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}
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else
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{
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gzerr << "Gearbox joint missing reference body.\n";
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}
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}
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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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/// \brief Get gearbox joint gear ratio.
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/// \return Gear ratio value.
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public: virtual double GetGearboxRatio() const
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{ return this->gearRatio; }
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/// \brief Set gearbox joint gear ratio.
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///
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/// This must be implemented in a child class
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/// \param[in] _index Index of the axis.
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/// \param[in] _gearRatio Gear ratio value.
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public: virtual void SetGearboxRatio(double _gearRatio) = 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::Gearbox *gearboxMsg = _msg.mutable_gearbox();
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gearboxMsg->set_gearbox_reference_body(this->referenceBody);
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gearboxMsg->set_gearbox_ratio(this->gearRatio);
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}
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/// \brief Gearbox gearRatio
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protected: double gearRatio;
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/// \brief reference link/body for computing joint angles
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protected: std::string referenceBody;
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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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