56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
// Copyright 1996-2024 Cyberbotics Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// https://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef BRAKE_HPP
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#define BRAKE_HPP
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#include <stdio.h>
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#include <webots/Device.hpp>
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namespace webots {
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class Motor;
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class PositionSensor;
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class Brake : public Device {
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public:
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typedef enum { ROTATIONAL = 0, LINEAR } Type;
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explicit Brake(const std::string &name) :
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Device(name),
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motor(NULL),
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positionSensor(NULL) {} // Use Robot::getBrake() instead
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explicit Brake(WbDeviceTag tag) : Device(tag), motor(NULL), positionSensor(NULL) {}
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virtual ~Brake() {}
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Type getType() const;
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void setDampingConstant(double dampingConstant) const;
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Motor *getMotor();
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PositionSensor *getPositionSensor();
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// internal functions
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int getMotorTag() const;
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int getPositionSensorTag() const;
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enum { // kept for backward compatibility R2018b
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ANGULAR = 0
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};
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private:
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Motor *motor;
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PositionSensor *positionSensor;
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};
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} // namespace webots
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#endif // BRAKE_HPP
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