Gazebo Gazebo

API Reference

3.15.1
ApplyJointForce.hh
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1 /*
2  * Copyright (C) 2019 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
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16  */
17 #ifndef GZ_GAZEBO_SYSTEMS_APPLYJOINTFORCE_HH_
18 #define GZ_GAZEBO_SYSTEMS_APPLYJOINTFORCE_HH_
19 
20 #include <gz/sim/System.hh>
21 #include <memory>
22 
23 namespace ignition
24 {
25 namespace gazebo
26 {
27 // Inline bracket to help doxygen filtering.
28 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
29 namespace systems
30 {
31  // Forward declaration
32  class ApplyJointForcePrivate;
33 
36  : public System,
37  public ISystemConfigure,
38  public ISystemPreUpdate
39  {
41  public: ApplyJointForce();
42 
44  public: ~ApplyJointForce() override = default;
45 
46  // Documentation inherited
47  public: void Configure(const Entity &_entity,
50  EventManager &_eventMgr) override;
51 
52  // Documentation inherited
53  public: void PreUpdate(
54  const gz::sim::UpdateInfo &_info,
55  gz::sim::EntityComponentManager &_ecm) override;
56 
59  };
60  }
61 }
62 }
63 }
64 
65 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
This library is part of the Ignition Robotics project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
STL class.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:50
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:37
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
This system applies a force to the first axis of a specified joint.
Definition: ApplyJointForce.hh:35
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:105
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
Base class for a System.
Definition: gz/sim/System.hh:73
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override