ODEBallJoint.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
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 /* Desc: An ODE ball joint
18  * Author: Nate Koenig
19  * Date: 13 Oct 2009
20  */
21 
22 #ifndef _ODEBALLJOINT_HH_
23 #define _ODEBALLJOINT_HH_
24 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
37  class GZ_PHYSICS_VISIBLE ODEBallJoint : public BallJoint<ODEJoint>
38  {
42  public: ODEBallJoint(dWorldID _worldId, BasePtr _parent);
43 
45  public: virtual ~ODEBallJoint();
46 
47  // Documentation inherited
48  public: virtual ignition::math::Vector3d Anchor(
49  const unsigned int _index) const;
50 
51  // Documentation inherited
52  public: virtual void SetAnchor(const unsigned int _index,
53  const ignition::math::Vector3d &_anchor);
54 
55  // Documentation inherited
56  public: virtual ignition::math::Vector3d GlobalAxis(
57  const unsigned int _index) const;
58 
59  // Documentation inherited
60  public: virtual void SetVelocity(unsigned int _index, double _angle);
61 
62  // Documentation inherited
63  public: virtual double GetVelocity(unsigned int _index) const;
64 
65  // Documentation inherited
66  public: virtual double PositionImpl(const unsigned int _index) const;
67 
68  // Documentation inherited.
69  public: virtual void SetAxis(const unsigned int _index,
70  const ignition::math::Vector3d &_axis);
71 
72  // Documentation inherited.
73  public: virtual double UpperLimit(const unsigned int _index) const;
74 
75  // Documentation inherited.
76  public: virtual double LowerLimit(const unsigned int _index) const;
77 
78  // Documentation inherited.
79  public: virtual void SetUpperLimit(const unsigned int _index,
80  const double _limit);
81 
82  // Documentation inherited.
83  public: virtual void SetLowerLimit(const unsigned int _index,
84  const double _limit);
85 
86  // Documentation inherited.
87  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
88  };
90  }
91 }
92 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
An ODEBallJoint.
Definition: ODEBallJoint.hh:37
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Base class for a ball joint.
Definition: BallJoint.hh:40