ODEHinge2Joint.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 /* Desc: A hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _ODEHINGE2JOINT_HH_
23 #define _ODEHINGE2JOINT_HH_
24 
25 #include "gazebo/math/Vector3.hh"
26 
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
37 
39  class GZ_PHYSICS_VISIBLE ODEHinge2Joint : public Hinge2Joint<ODEJoint>
40  {
44  public: ODEHinge2Joint(dWorldID worldId, BasePtr _parent);
45 
47  public: virtual ~ODEHinge2Joint();
48 
49  // Documentation inherited.
50  public: virtual void Load(sdf::ElementPtr _sdf);
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 void SetAxis(const unsigned int _index,
58  const ignition::math::Vector3d &_axis);
59 
60  // Documentation inherited.
61  public: virtual ignition::math::Vector3d Anchor(
62  const unsigned int _index) const;
63 
64  // Documentation inherited.
65  public: virtual ignition::math::Vector3d GlobalAxis(
66  const unsigned int _index) const;
67 
68  // Documentation inherited.
69  public: virtual double PositionImpl(const unsigned int _index) const;
70 
71  // Documentation inherited.
72  public: virtual double GetVelocity(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 GetParam(unsigned int _parameter) const;
79 
80  public: virtual void SetParam(unsigned int _parameter, double _value);
81 
82  // Documentation inherited.
83  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
84  };
86  }
87 }
88 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
A two axis hinge joint.
Definition: ODEHinge2Joint.hh:39
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77