AngularSecondaryJoint.h

/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material without having a written signed agreement with Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef MOMENTUM_ANGULAR_SECONDARY_JOINT_H
#define MOMENTUM_ANGULAR_SECONDARY_JOINT_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "SecondaryJoint.h"
 
#ifndef SWIG
namespace agx
{
  class BasicControllerConstraint;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class MOMENTUM_EXPORT AngularSecondaryJoint : public SecondaryJoint
  {
  public:
#ifndef SWIG
 
    AngularSecondaryJoint(agx::BasicControllerConstraint* constraint);
 
#endif
 
    std::pair<double, double> getTorqueLimit() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    bool setTorqueLimit(std::pair<double, double> limit);
 
    bool setTorqueLimit(double lower, double upper);
#endif
 
    double getCurrentTorque() const;
 
    std::string __str__() const;
 
  protected:
 
    AngularSecondaryJoint();
 
  };
} // namespace momentum
 
 
#endif