DARTUniversalJoint.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
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_DARTUNIVERSALJOINT_HH_
19 #define _GAZEBO_DARTUNIVERSALJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE DARTUniversalJoint :
34  public UniversalJoint<DARTJoint>
35  {
38  public: DARTUniversalJoint(BasePtr _parent);
39 
41  public: virtual ~DARTUniversalJoint();
42 
43  // Documentation inherited.
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited.
47  public: virtual void Init();
48 
49  // Documentation inherited
50  public: virtual ignition::math::Vector3d Anchor(
51  const unsigned int _index) const;
52 
53  // Documentation inherited
54  public: virtual ignition::math::Vector3d GlobalAxis(
55  const unsigned int _index) const;
56 
57  // Documentation inherited
58  public: virtual void SetAxis(const unsigned int _index,
59  const ignition::math::Vector3d &_axis);
60 
61  // Documentation inherited
62  public: virtual double PositionImpl(const unsigned int _index) const;
63 
64  // Documentation inherited
65  public: virtual double GetVelocity(unsigned int _index) const;
66 
67  // Documentation inherited
68  public: virtual void SetVelocity(unsigned int _index, double _vel);
69 
70  // Documentation inherited
71  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
72  };
74  }
75 }
76 #endif
A universal joint.
Definition: DARTUniversalJoint.hh:33
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.
A universal joint.
Definition: UniversalJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77