ODESliderJoint.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 slider or primastic joint
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _ODESLIDERJOINT_HH_
23 #define _ODESLIDERJOINT_HH_
24 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
37  class GZ_PHYSICS_VISIBLE ODESliderJoint : public SliderJoint<ODEJoint>
38  {
42  public: ODESliderJoint(dWorldID _worldId, BasePtr _parent);
43 
45  public: virtual ~ODESliderJoint();
46 
47  // Documentation inherited
48  public: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited
51  public: virtual ignition::math::Vector3d Anchor(
52  const unsigned int _index) const;
53 
54  // Documentation inherited
55  public: virtual void SetAnchor(const unsigned int _index,
56  const ignition::math::Vector3d &_anchor);
57 
58  // Documentation inherited
59  public: virtual ignition::math::Vector3d GlobalAxis(
60  const unsigned int _index) const;
61 
62  // Documentation inherited
63  public: virtual void SetAxis(const unsigned int _index,
64  const ignition::math::Vector3d &_axis);
65 
66  // Documentation inherited
67  public: virtual double PositionImpl(const unsigned int _index) const;
68 
69  // Documentation inherited
70  public: virtual double GetVelocity(unsigned int _index) const;
71 
72  // Documentation inherited
73  public: virtual void SetVelocity(unsigned int _index, double _angle);
74 
75  // Documentation inherited
76  public: virtual double GetParam(unsigned int _parameter) const;
77 
78  // Documentation inherited
79  public: virtual void SetParam(unsigned int _parameter, double _value);
80 
81  // Documentation inherited
82  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
83  };
85  }
86 }
87 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A slider joint.
Definition: SliderJoint.hh:38
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
A slider joint.
Definition: ODESliderJoint.hh:37