GearboxJoint.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _GEARBOXJOINT_HH_
19#define _GEARBOXJOINT_HH_
20
21#ifdef _WIN32
22 // Ensure that Winsock2.h is included before Windows.h, which can get
23 // pulled in by anybody (e.g., Boost).
24 #include <Winsock2.h>
25#endif
26
27#include <string>
28
29#include "gazebo/msgs/msgs.hh"
30#include "gazebo/util/system.hh"
31
32namespace gazebo
33{
34 namespace physics
35 {
38
41 template<class T>
42 class GZ_PHYSICS_VISIBLE GearboxJoint : public T
43 {
46 public: explicit GearboxJoint(BasePtr _parent)
47 : T(_parent), gearRatio(1.0)
48 { this->AddType(Base::GEARBOX_JOINT); }
50 public: virtual ~GearboxJoint()
51 { }
52
53 // Documentation inherited.
54 public: virtual unsigned int DOF() const
55 {return 2;}
56
59 public: virtual void Load(sdf::ElementPtr _sdf)
60 {
61 T::Load(_sdf);
62 if (_sdf->HasElement("gearbox_ratio"))
63 {
64 this->gearRatio =
65 _sdf->Get<double>("gearbox_ratio");
66 }
67 else
68 {
69 gzerr << "gearbox_ratio_not_specified, set to 1.\n";
70 this->gearRatio = 1.0;
71 /* below should bring in default values for sdf 1.4+
72 this->gearRatio =
73 _sdf->Get<double>("gearbox_ratio");
74 */
75 }
76
77 if (_sdf->HasElement("gearbox_reference_body"))
78 {
79 this->referenceBody =
80 _sdf->Get<std::string>("gearbox_reference_body");
81 }
82 else
83 {
84 gzerr << "Gearbox joint missing reference body.\n";
85 }
86 }
87
89 protected: virtual void Init()
90 {
91 T::Init();
92 }
93
96 public: virtual double GetGearboxRatio() const
97 { return this->gearRatio; }
98
104 public: virtual void SetGearboxRatio(double _gearRatio) = 0;
105
106 // Documentation inherited
107 public: virtual void FillMsg(msgs::Joint &_msg)
108 {
109 Joint::FillMsg(_msg);
110 msgs::Joint::Gearbox *gearboxMsg = _msg.mutable_gearbox();
111 gearboxMsg->set_gearbox_reference_body(this->referenceBody);
112 gearboxMsg->set_gearbox_ratio(this->gearRatio);
113 }
114
116 protected: double gearRatio;
117
119 protected: std::string referenceBody;
120 };
122 }
123}
124#endif
@ GEARBOX_JOINT
GearboxJoint type.
Definition Base.hh:112
A double axis gearbox joint.
Definition GearboxJoint.hh:43
std::string referenceBody
reference link/body for computing joint angles
Definition GearboxJoint.hh:119
double gearRatio
Gearbox gearRatio.
Definition GearboxJoint.hh:116
virtual ~GearboxJoint()
Destructor.
Definition GearboxJoint.hh:50
virtual void Init()
Initialize joint.
Definition GearboxJoint.hh:89
GearboxJoint(BasePtr _parent)
Constructor.
Definition GearboxJoint.hh:46
virtual double GetGearboxRatio() const
Get gearbox joint gear ratio.
Definition GearboxJoint.hh:96
virtual void SetGearboxRatio(double _gearRatio)=0
Set gearbox joint gear ratio.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
Definition GearboxJoint.hh:59
virtual void FillMsg(msgs::Joint &_msg)
Definition GearboxJoint.hh:107
virtual unsigned int DOF() const
Definition GearboxJoint.hh:54
virtual void FillMsg(msgs::Joint &_msg)
Fill a joint message.
#define gzerr
Output an error message.
Definition Console.hh:50
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27