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);
77 public:
double Damping()
const;
84 public:
void SetDamping(
const double _damping);
90 public:
double Friction()
const;
95 public:
void SetFriction(
const double _friction);
101 public:
double SpringReference()
const;
106 public:
void SetSpringReference(
const double _spring);
112 public:
double SpringStiffness()
const;
117 public:
void SetSpringStiffness(
const double _spring);
124 public:
double Lower()
const;
131 public:
void SetLower(
const double _lower);
138 public:
double Upper()
const;
145 public:
void SetUpper(
const double _upper);
153 public:
double Effort()
const;
160 public:
void SetEffort(
double _effort);
166 public:
double MaxVelocity()
const;
172 public:
void SetMaxVelocity(
const double _velocity);
177 public:
double Stiffness()
const;
183 public:
void SetStiffness(
const double _stiffness);
188 public:
double Dissipation()
const;
193 public:
void SetDissipation(
const double _dissipation);
199 public:
const std::string& XyzExpressedIn()
const;
205 public:
void SetXyzExpressedIn(
const std::string &_frame);
214 public:
Errors ResolveXyz(
215 ignition::math::Vector3d &_xyz,
216 const std::string &_resolveTo =
"")
const;
234 private:
void SetXmlParentName(
const std::string &_xmlParentName);
240 private:
void SetPoseRelativeToGraph(
241 sdf::ScopedGraph<PoseRelativeToGraph> _graph);
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:42
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
SDF Element class.
Definition: Element.hh:73
namespace for Simulation Description Format parser
Definition: Actor.hh:33