ODEFixedJoint.hh
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1 /*
2  * Copyright (C) 2015 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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_ODEFIXEDJOINT_HH_
19 #define _GAZEBO_ODEFIXEDJOINT_HH_
20 
21 #include "gazebo/math/Vector3.hh"
22 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE ODEFixedJoint : public FixedJoint<ODEJoint>
36  {
40  public: ODEFixedJoint(dWorldID _worldId, BasePtr _parent);
41 
43  public: virtual ~ODEFixedJoint();
44 
45  // Documentation inherited
46  public: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited
49  public: virtual ignition::math::Vector3d Anchor(
50  const unsigned int _index) const;
51 
52  // Documentation inherited
53  public: virtual void SetAnchor(const unsigned int _index,
54  const ignition::math::Vector3d &_anchor);
55 
56  // Documentation inherited
57  public: virtual ignition::math::Vector3d GlobalAxis(
58  const unsigned int _index) const;
59 
60  // Documentation inherited
61  public: virtual void SetAxis(const unsigned int _index,
62  const ignition::math::Vector3d &_axis);
63 
64  // Documentation inherited
65  public: virtual double PositionImpl(const unsigned int _index) const;
66 
67  // Documentation inherited
68  public: virtual void SetVelocity(unsigned int _index, double _angle);
69 
70  // Documentation inherited
71  public: virtual double GetVelocity(unsigned int _index) const;
72 
73  // Documentation inherited
74  public: virtual void Attach(LinkPtr _parent, LinkPtr _child);
75 
76  // Documentation inherited
77  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
78  };
80  }
81 }
82 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition: Animation.hh:33
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: ODEFixedJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77