DARTBallJoint.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 
18 #ifndef _GAZEBO_DARTBALLJOINT_HH_
19 #define _GAZEBO_DARTBALLJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE DARTBallJoint : public BallJoint<DARTJoint>
34  {
37  public: DARTBallJoint(BasePtr _parent);
38 
40  public: virtual ~DARTBallJoint();
41 
42  // Documentation inherited.
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
45  // Documentation inherited.
46  public: virtual void Init();
47 
48  // Documentation inherited
49  public: virtual ignition::math::Vector3d Anchor(
50  const unsigned int _index) const;
51 
52  // Documentation inherited
53  public: virtual ignition::math::Vector3d GlobalAxis(
54  const unsigned int _index) const;
55 
56  // Documentation inherited
57  public: virtual void SetVelocity(unsigned int _index, double _angle);
58 
59  // Documentation inherited
60  public: virtual double GetVelocity(unsigned int _index) const;
61 
62  // Documentation inherited
63  public: virtual double PositionImpl(const unsigned int _index) const;
64 
65  // Documentation inherited.
66  protected: void SetForceImpl(unsigned int _index, double _torque);
67 
68  // Documentation inherited.
69  public: virtual void SetAxis(const unsigned int _index,
70  const ignition::math::Vector3d &_axis);
71 
72  // Documentation inherited.
73  public: virtual double UpperLimit(const unsigned int _index) const;
74 
75  // Documentation inherited.
76  public: virtual double LowerLimit(const unsigned int _index) const;
77 
78  // Documentation inherited.
79  public: virtual void SetUpperLimit(const unsigned int _index,
80  const double _limit);
81 
82  // Documentation inherited.
83  public: virtual void SetLowerLimit(const unsigned int _index,
84  const double _limit);
85  };
87  }
88 }
89 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An DARTBallJoint.
Definition: DARTBallJoint.hh:33
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Base class for a ball joint.
Definition: BallJoint.hh:40