DARTHinge2Joint.hh
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1 /*
2  * Copyright (C) 2014 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
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _GAZEBO_DARTHINGE2JOINT_HH_
19 #define _GAZEBO_DARTHINGE2JOINT_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 DARTHinge2Joint : public Hinge2Joint<DARTJoint>
36  {
39  public: DARTHinge2Joint(BasePtr _parent);
40 
42  public: virtual ~DARTHinge2Joint();
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 double GetVelocity(unsigned int _index) const;
67 
68  // Documentation inherited
69  public: virtual void SetVelocity(unsigned int _index, double _vel);
70 
71  // Documentation inherited
72  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
73  };
75  }
76 }
77 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
A two axis hinge joint.
Definition: DARTHinge2Joint.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77