17 #ifndef SDF_JOINTAXIS_HH_
18 #define SDF_JOINTAXIS_HH_
22 #include <ignition/math/Vector3.hh>
25 #include "sdf/sdf_config.h"
31 inline namespace SDF_VERSION_NAMESPACE {
35 class JointAxisPrivate;
36 struct PoseRelativeToGraph;
92 public: ignition::math::Vector3d
Xyz()
const;
97 public:
void SetXyz(
const ignition::math::Vector3d &_xyz);
112 public:
void SetUseParentModelFrame(const
bool _parentModelFrame)
120 public:
double Damping() const;
127 public:
void SetDamping(const
double _damping);
133 public:
double Friction() const;
138 public:
void SetFriction(const
double _friction);
144 public:
double SpringReference() const;
149 public:
void SetSpringReference(const
double _spring);
155 public:
double SpringStiffness() const;
160 public:
void SetSpringStiffness(const
double _spring);
167 public:
double Lower() const;
174 public:
void SetLower(const
double _lower);
181 public:
double Upper() const;
188 public:
void SetUpper(const
double _upper) const;
194 public:
double Effort() const;
200 public:
void SetEffort(
double _effort);
206 public:
double MaxVelocity() const;
211 public:
void SetMaxVelocity(const
double _velocity) const;
216 public:
double Stiffness() const;
222 public:
void SetStiffness(const
double _stiffness) const;
227 public:
double Dissipation() const;
232 public:
void SetDissipation(const
double _dissipation) const;
238 public: const std::
string& XyzExpressedIn() const;
244 public:
void SetXyzExpressedIn(const std::
string &_frame);
254 ignition::math::Vector3d &_xyz,
255 const std::
string &_resolveTo = "") const;
267 private:
void SetXmlParentName(const std::
string &_xmlParentName);
273 private:
void SetPoseRelativeToGraph(
274 std::weak_ptr<const PoseRelativeToGraph> _graph);
280 private: JointAxisPrivate *dataPtr;
SDF Element class.
Definition: Element.hh:74
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:41
JointAxis & operator=(const JointAxis &_jointAxis)
Copy assignment operator.
JointAxis(JointAxis &&_jointAxis) noexcept
Move constructor.
JointAxis()
Default constructor.
ignition::math::Vector3d Xyz() const
Get the x,y,z components of the axis unit vector.
Errors Load(ElementPtr _sdf)
Load the joint axis based on a element pointer.
void SetInitialPosition(const double _pos)
Set the initial joint position for this joint axis.
bool UseParentModelFrame() const SDF_DEPRECATED(9.0)
Get whether to interpret the axis xyz value in the parent model frame instead of joint frame.
void SetXyz(const ignition::math::Vector3d &_xyz)
Set the x,y,z components of the axis unit vector.
JointAxis & operator=(JointAxis &&_jointAxis)
Move assignment operator.
double InitialPosition() const
Get the initial joint position for this joint axis.
JointAxis(const JointAxis &_jointAxis)
Copy constructor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48