ODEScrewJoint.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 #ifndef _ODESCREWJOINT_HH_
18 #define _ODESCREWJOINT_HH_
19 
20 #include <string>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE ODEScrewJoint : public ScrewJoint<ODEJoint>
34  {
38  public: ODEScrewJoint(dWorldID _worldId, BasePtr _parent);
39 
41  public: virtual ~ODEScrewJoint();
42 
43  // Documentation inherited
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited
47  public: virtual ignition::math::Vector3d Anchor(
48  const unsigned int _index) const;
49 
50  // Documentation inherited
51  public: virtual void SetAnchor(const unsigned int _index,
52  const ignition::math::Vector3d &_anchor);
53 
54  // Documentation inherited
55  public: virtual ignition::math::Vector3d GlobalAxis(
56  const unsigned int _index) const;
57 
58  // Documentation inherited
59  public: virtual void SetAxis(const unsigned int _index,
60  const ignition::math::Vector3d &_axis);
61 
62  // Documentation inherited
63  public: virtual void SetThreadPitch(unsigned int _index,
64  double _threadPitch);
65 
66  // Documentation inherited
67  public: virtual void SetThreadPitch(double _threadPitch);
68 
69  // Documentation inherited
70  public: virtual double GetThreadPitch(unsigned int _index);
71 
72  // Documentation inherited
73  public: virtual double GetThreadPitch();
74 
75  // Documentation inherited
76  public: virtual double PositionImpl(const unsigned int _index) const;
77 
78  // Documentation inherited
79  public: virtual double GetVelocity(unsigned int _index) const;
80 
81  // Documentation inherited
82  public: virtual void SetVelocity(unsigned int _index, double _angle);
83 
84  // Documentation inherited
85  public: virtual double GetParam(unsigned int _parameter) const;
86 
87  // Documentation inherited
88  public: virtual void SetParam(unsigned int _parameter, double _value);
89 
90  // Documentation inherited.
91  public: virtual bool SetParam(const std::string &_key,
92  unsigned int _index,
93  const boost::any &_value);
94 
95  // Documentation inherited.
96  public: virtual double GetParam(const std::string &_key,
97  unsigned int _index);
98 
99  // Documentation inherited
100  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
101  };
103  }
104 }
105 #endif
A screw joint.
Definition: ODEScrewJoint.hh:33
Forward declarations for the common classes.
Definition: Animation.hh:33
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77