DARTSliderJoint.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
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 _GAZEBO_DARTSLIDERJOINT_HH_
19 #define _GAZEBO_DARTSLIDERJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE DARTSliderJoint : public SliderJoint<DARTJoint>
34  {
37  public: DARTSliderJoint(BasePtr _parent);
38 
40  public: virtual ~DARTSliderJoint();
41 
42  // Documentation inherited.
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
45  // Documentation inherited.
46  public: virtual void Init();
47 
48  // Documentation inherited
49  public: virtual ignition::math::Vector3d Anchor(
50  const unsigned int _index) const;
51 
52  // Documentation inherited
53  public: virtual ignition::math::Vector3d GlobalAxis(
54  const unsigned int _index) const;
55 
56  // Documentation inherited
57  public: virtual void SetAxis(const unsigned int _index,
58  const ignition::math::Vector3d &_axis);
59 
60  // Documentation inherited
61  public: virtual double PositionImpl(const unsigned int _index) const;
62 
63  // Documentation inherited
64  public: virtual void SetVelocity(unsigned int _index, double _vel);
65 
66  // Documentation inherited
67  public: virtual double GetVelocity(unsigned int _index) const;
68 
69  // Documentation inherited.
70  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
71  };
73  }
74 }
75 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A slider joint.
Definition: SliderJoint.hh:38
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A slider joint.
Definition: DARTSliderJoint.hh:33
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77