ODEGearboxJoint.hh
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1 /*
2  * Copyright (C) 2012 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 _ODEGEARBOXJOINT_HH_
19 #define _ODEGEARBOXJOINT_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 
36  class GZ_PHYSICS_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
37  {
41  public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
42 
44  public: virtual ~ODEGearboxJoint();
45 
46  // Documentation inherited
47  public: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited
50  public: virtual void Init();
51 
52  // Documentation inherited
53  public: virtual ignition::math::Vector3d Anchor(
54  const unsigned int _index) const;
55 
56  // Documentation inherited
57  public: virtual void SetAnchor(const unsigned int _index,
58  const ignition::math::Vector3d &_anchor);
59 
60  // Documentation inherited
61  public: virtual ignition::math::Vector3d GlobalAxis(
62  const unsigned int _index) const;
63 
64  // Documentation inherited
65  public: virtual void SetAxis(const unsigned int _index,
66  const ignition::math::Vector3d &_axis);
67 
68  // Documentation inherited
69  public: virtual void SetGearboxRatio(double _gearRatio);
70 
71  // Documentation inherited
72  public: virtual double PositionImpl(const unsigned int _index) const;
73 
74  // Documentation inherited
75  public: virtual void SetVelocity(unsigned int _index, double _angle);
76 
77  // Documentation inherited
78  public: virtual double GetVelocity(unsigned int _index) const;
79 
80  // Documentation inherited
81  public: virtual double GetParam(unsigned int _parameter) const;
82 
83  // Documentation inherited
84  public: virtual void SetParam(unsigned int _parameter, double _value);
85 
86  // Documentation inherited
87  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
88 
91  private: void SetReferenceBody(LinkPtr _body);
92  };
94  }
95 }
96 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition: Animation.hh:33
A double axis gearbox joint.
Definition: ODEGearboxJoint.hh:36
A double axis gearbox joint.
Definition: GearboxJoint.hh:43
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77