PrismaticJoint.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_PRISMATICJOINT_H
#define MOMENTUM_PRISMATICJOINT_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "Joint.h"
 
#include "LinearMotor.h"
#include "LinearRange.h"
#include "LinearSpring.h"
#include "FrictionController.h"
 
#ifndef SWIG
namespace agx
{
  class Prismatic;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
  class MOMENTUM_EXPORT PrismaticJoint : public Joint
  {
  public:
#ifndef SWIG
 
    PrismaticJoint(agx::Prismatic* prismatic);
 
    PrismaticJoint();
#endif
 
    std::shared_ptr<LinearMotor> getMotor() const;
    std::shared_ptr<LinearSpring> getSpring() const;
    std::shared_ptr<LinearRange> getRange() const;
 
    double getPosition() const;
 
    double getCurrentSpeed() const;
 
    std::shared_ptr<FrictionController> getFrictionController();
 
    virtual ~PrismaticJoint();
 
    std::string __str__() const;
 
 
  protected:
    virtual int getAgxTranslationalDOF(Joint::DegreeOfFreedom dof) const;
    virtual int getAgxRotationalDOF(Joint::DegreeOfFreedom dof) const;
 
  private:
#ifndef SWIG
    agx::Prismatic* getPrismatic() const;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(PrismaticJoint);
 
} // namespace momentum
 
#endif