// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/brake.h>

#include <webots/device.h>

#include <webots/Brake.hpp>

#include <webots/Motor.hpp>

#include <webots/PositionSensor.hpp>

#include <webots/Robot.hpp>

using namespace webots;

Brake::Type Brake::getType() const {

return Type(wb_brake_get_type(getTag()));

}

void Brake::setDampingConstant(double dampingConstant) const {

wb_brake_set_damping_constant(getTag(), dampingConstant);

}

Motor *Brake::getMotor() {

if (motor == NULL)

motor = dynamic_cast<Motor *>(Robot::getDeviceFromTag(getMotorTag()));

return motor;

}

int Brake::getMotorTag() const {

return wb_brake_get_motor(getTag());

}

PositionSensor *Brake::getPositionSensor() {

if (positionSensor == NULL)

positionSensor = dynamic_cast<PositionSensor *>(Robot::getDeviceFromTag(getPositionSensorTag()));

return positionSensor;

}

int Brake::getPositionSensorTag() const {

return wb_brake_get_position_sensor(getTag());

}