SimbodyScrewJoint.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_SCREWJOINT_HH_
19 #define _SIMBODY_SCREWJOINT_HH_
20 
21 #include <string>
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodyScrewJoint : public ScrewJoint<SimbodyJoint>
36  {
40  public: SimbodyScrewJoint(SimTK::MultibodySystem *_world,
41  BasePtr _parent);
42 
44  public: virtual ~SimbodyScrewJoint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: virtual void SetAxis(const unsigned int _index,
51  const ignition::math::Vector3d &_axis);
52 
53  // Documentation inherited.
54  public: virtual void SetUpperLimit(const unsigned int _index,
55  const double _limit);
56 
57  // Documentation inherited.
58  public: virtual void SetLowerLimit(const unsigned int _index,
59  const double _limit);
60 
61  // Documentation inherited.
62  public: virtual double UpperLimit(const unsigned int _index) const;
63 
64  // Documentation inherited.
65  public: virtual double LowerLimit(const unsigned int _index) const;
66 
67  // Documentation inherited.
68  public: virtual void SetThreadPitch(unsigned int _index,
69  double _threadPitch);
70 
71  // Documentation inherited.
72  public: virtual void SetThreadPitch(double _threadPitch);
73 
74  // Documentation inherited.
75  public: virtual double GetThreadPitch(unsigned int /*_index*/);
76 
77  // Documentation inherited.
78  public: virtual double GetThreadPitch();
79 
80  // Documentation inherited.
81  public: virtual double GetVelocity(unsigned int _index) const;
82 
83  // Documentation inherited.
84  public: virtual void SetVelocity(unsigned int _index, double _angle);
85 
86  // Documentation inherited.
87  public: virtual ignition::math::Vector3d GlobalAxis(
88  const unsigned int _index) const;
89 
90  // Documentation inherited.
91  public: virtual double PositionImpl(const unsigned int _index) const;
92 
93  // Documentation inherited.
94  public: virtual bool SetParam(const std::string &_key,
95  unsigned int _index,
96  const boost::any &_value);
97 
98  // Documentation inherited.
99  public: virtual double GetParam(const std::string &_key,
100  unsigned int _index);
101 
102  // Documentation inherited.
103  protected: virtual void SetForceImpl(unsigned int _index, double _force);
104  };
106  }
107 }
108 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:35
A screw joint.
Definition: SimbodyScrewJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77