CylindricalJoint.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_CYLINDRICALJOINT_H
#define MOMENTUM_CYLINDRICALJOINT_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "Joint.h"
 
#include "LinearMotor.h"
#include "LinearRange.h"
#include "LinearSpring.h"
 
#include "AngularMotor.h"
#include "AngularRange.h"
#include "AngularSpring.h"
#include "FrictionController.h"
#include "Screw1D.h"
 
#ifndef SWIG
namespace agx
{
  class CylindricalJoint;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class MOMENTUM_EXPORT CylindricalJoint : public Joint
  {
  public:
#ifndef SWIG
 
    CylindricalJoint(agx::CylindricalJoint* cylindrical);
 
    CylindricalJoint();
#endif
 
    std::shared_ptr<LinearMotor> getLinearMotor() const;
 
    std::shared_ptr<LinearSpring> getLinearSpring() const;
    std::shared_ptr<LinearRange> getLinearRange() const;
 
    std::shared_ptr<AngularMotor> getAngularMotor() const;
 
    std::shared_ptr<AngularSpring> getAngularSpring() const;
 
    std::shared_ptr<AngularRange> getAngularRange() const;
 
    double getPosition() const;
 
    double getCurrentLinearSpeed() const;
 
    double getAngle() const;
 
    double getCurrentAngularSpeed() const;
 
    std::shared_ptr<FrictionController> getAngularFrictionController();
 
    std::shared_ptr<FrictionController> getLinearFrictionController();
 
    std::shared_ptr<Screw1D> getScrew1D() const;
 
    virtual ~CylindricalJoint();
    std::string __str__() const;
 
 
  protected:
    virtual int getAgxTranslationalDOF(Joint::DegreeOfFreedom dof) const;
    virtual int getAgxRotationalDOF(Joint::DegreeOfFreedom dof) const;
 
  private:
#ifndef SWIG
    agx::CylindricalJoint* getCylindrical() const;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(CylindricalJoint);
 
} // namespace momentum
 
#endif