17 #ifndef SDF_JOINTAXIS_HH_
18 #define SDF_JOINTAXIS_HH_
22 #include <ignition/math/Vector3.hh>
23 #include <ignition/utils/ImplPtr.hh>
27 #include "sdf/sdf_config.h"
33 inline namespace SDF_VERSION_NAMESPACE {
37 struct PoseRelativeToGraph;
38 template <
typename T>
class ScopedGraph;
63 public: ignition::math::Vector3d
Xyz()
const;
70 const ignition::math::Vector3d &_xyz);
215 ignition::math::Vector3d &_xyz,
216 const std::string &_resolveTo =
"")
const;
234 private:
void SetXmlParentName(
const std::string &_xmlParentName);
240 private:
void SetPoseRelativeToGraph(
247 IGN_UTILS_IMPL_PTR(dataPtr)
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:43
ignition::math::Vector3d Xyz() const
Get the x,y,z components of the axis unit vector.
void SetStiffness(const double _stiffness)
Get the joint stop stiffness.
double Friction() const
Get the physical static friction value of the joint.
void SetDamping(const double _damping)
Set the physical velocity dependent viscous damping coefficient of the joint axis.
void SetLower(const double _lower)
Set the lower joint axis limit (radians for revolute joints, meters for prismatic joints).
double Stiffness() const
Get the joint stop stiffness.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetDissipation(const double _dissipation)
Set the joint stop dissipation.
void SetSpringReference(const double _spring)
Set the spring reference position for this joint axis.
double SpringStiffness() const
Get the spring stiffness for this joint axis.
Errors ResolveXyz(ignition::math::Vector3d &_xyz, const std::string &_resolveTo="") const
Express xyz unit vector of this axis in the coordinates of another named frame.
double Lower() const
Get the lower joint axis limit (radians for revolute joints, meters for prismatic joints).
double Upper() const
Get the upper joint axis limit (radians for revolute joints, meters for prismatic joints).
double Effort() const
Get the value for enforcing the maximum absolute joint effort that can be applied.
void SetMaxVelocity(const double _velocity)
Set the value for enforcing the maximum absolute joint velocity.
Errors Load(ElementPtr _sdf)
Load the joint axis based on a element pointer.
sdf::ElementPtr ToElement(unsigned int _index=0u) const
Create and return an SDF element filled with data from this joint axis.
void SetFriction(const double _friction)
Set the physical static friction value of the joint.
void SetUpper(const double _upper)
Set the upper joint axis limit (radians for revolute joints, meters for prismatic joints).
JointAxis()
Default constructor.
double Damping() const
Get the physical velocity dependent viscous damping coefficient of the joint axis.
double SpringReference() const
Get the spring reference position for this joint axis.
const std::string & XyzExpressedIn() const
Get the name of the coordinate frame in which this joint axis's unit vector is expressed.
void SetSpringStiffness(const double _spring)
Set the spring stiffness for this joint axis.
double Dissipation() const
Get the joint stop dissipation.
void SetXyzExpressedIn(const std::string &_frame)
Set the name of the coordinate frame in which this joint axis's unit vector is expressed.
sdf::Errors SetXyz(const ignition::math::Vector3d &_xyz)
Set the x,y,z components of the axis unit vector.
void SetEffort(double _effort)
Set the value for enforcing the maximum absolute joint effort that can be applied.
double MaxVelocity() const
Get the value for enforcing the maximum absolute joint velocity.
Definition: Collision.hh:39
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41