SimbodyUniversalJoint.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_UNIVERSAL_JOINT_HH_
19 #define _SIMBODY_UNIVERSAL_JOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodyUniversalJoint
36  : public UniversalJoint<SimbodyJoint>
37  {
41  public: SimbodyUniversalJoint(SimTK::MultibodySystem *_world,
42  BasePtr _parent);
43 
45  public: virtual ~SimbodyUniversalJoint();
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 SetAxis(const unsigned int _index,
56  const ignition::math::Vector3d &_axis);
57 
58  // Function not implemented, will be removed in Gazebo 9.
59  public: virtual math::Vector3 GetAxis(unsigned int _index) const
60  GAZEBO_DEPRECATED(8.0);
61 
62  // Documentation inherited.
63  public: virtual void SetVelocity(unsigned int _index, double _rate);
64 
65  // Documentation inherited.
66  public: virtual double GetVelocity(unsigned int _index) const;
67 
68  // Documentation inherited.
69  public: virtual ignition::math::Vector3d GlobalAxis(
70  const unsigned int _index) const;
71 
72  // Documentation inherited.
73  protected: virtual double PositionImpl(const unsigned int _index) const;
74 
75  // Documentation inherited.
76  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
77  };
79  }
80 }
81 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
A simbody universal joint class.
Definition: SimbodyUniversalJoint.hh:35
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
A universal joint.
Definition: UniversalJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77