SimbodyHingeJoint.hh
Go to the documentation of this file.
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 _SIMBODY_HINGEJOINT_HH_
19 #define _SIMBODY_HINGEJOINT_HH_
20 
21 #include <vector>
22 
23 #include "gazebo/math/Vector3.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class GZ_PHYSICS_VISIBLE SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
39  {
41  public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
42 
44  public: virtual ~SimbodyHingeJoint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: void SetAxis(const unsigned int _index,
51  const ignition::math::Vector3d &_axis);
52 
53  // Documentation inherited.
54  public: virtual void SetVelocity(unsigned int _index, double _rate);
55 
56  // Documentation inherited.
57  public: virtual double GetVelocity(unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual ignition::math::Vector3d GlobalAxis(
61  const unsigned int _index) const;
62 
64  public: virtual void SaveSimbodyState(const SimTK::State &_state);
65 
67  public: virtual void RestoreSimbodyState(SimTK::State &_state);
68 
69  // Documentation inherited.
70  protected: virtual double PositionImpl(const unsigned int _index) const;
71 
72  // Documentation inherited.
73  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
74 
76  private: std::vector<double> simbodyQ;
77 
79  private: std::vector<double> simbodyU;
80  };
82  }
83 }
84 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A single axis hinge joint.
Definition: SimbodyHingeJoint.hh:38
A single axis hinge joint.
Definition: HingeJoint.hh:37
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77