joint_dynamics.h

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#ifndef INCLUDE_TINYURDF_CORE_JOINT_DYNAMICS_H
#define INCLUDE_TINYURDF_CORE_JOINT_DYNAMICS_H
 
// Copyright 2025 Wissem CHIHA
 
#include <string>
 
#include "common/property_base.h"
 
class JointDynamics : public PropertyBase
{
 public:
  JointDynamics();
  bool isA(const char* name) const override;
  std::string toString() const override;
  void clear() override;
  void setDamping(double d);
  void setFriction(double f);
  void setInertia(double i);
 
 private:
  double damping, friction, inertia;
};
#endif  // INCLUDE_TINYURDF_CORE_JOINT_DYNAMICS_H