17 #ifndef SDF_JOINTAXIS_HH_
18 #define SDF_JOINTAXIS_HH_
22 #include <gz/math/Vector3.hh>
25 #include "sdf/sdf_config.h"
31 inline namespace SDF_VERSION_NAMESPACE {
35 class JointAxisPrivate;
36 struct PoseRelativeToGraph;
78 public:
double InitialPosition()
const;
83 public:
void SetInitialPosition(
const double _pos);
92 public: gz::math::Vector3d Xyz()
const;
97 public:
void SetXyz(
const gz::math::Vector3d &_xyz);
104 public:
bool UseParentModelFrame()
const
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);
253 public:
Errors ResolveXyz(
254 gz::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;