DARTFixedJoint.hh
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2  * Copyright (C) 2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTFIXEDJOINT_HH_
19 #define _GAZEBO_DARTFIXEDJOINT_HH_
20 
21 #include "gazebo/math/Vector3.hh"
22 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE DARTFixedJoint : public FixedJoint<DARTJoint>
36  {
39  public: DARTFixedJoint(BasePtr _parent);
40 
42  public: virtual ~DARTFixedJoint();
43 
44  // Documentation inherited.
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited.
48  public: virtual void Init();
49 
50  // Documentation inherited
51  public: virtual ignition::math::Vector3d Anchor(
52  const unsigned int _index) const;
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 double PositionImpl(const unsigned int _index) const;
64 
65  // Documentation inherited
66  public: virtual void SetVelocity(unsigned int _index, double _vel);
67 
68  // Documentation inherited
69  public: virtual double GetVelocity(unsigned int _index) const;
70 
71  // Documentation inherited
72  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
73  };
75  }
76 }
77 #endif
A single axis hinge joint.
Definition: DARTFixedJoint.hh:35
Forward declarations for the common classes.
Definition: Animation.hh:33
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77