ODEUniversalJoint.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 #ifndef _ODEUNIVERSALJOINT_HH_
18 #define _ODEUNIVERSALJOINT_HH_
19 
20 #include <boost/any.hpp>
21 #include <string>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  class GZ_PHYSICS_VISIBLE ODEUniversalJoint :
37  public UniversalJoint<ODEJoint>
38  {
42  public: ODEUniversalJoint(dWorldID _worldId, BasePtr _parent);
43 
45  public: virtual ~ODEUniversalJoint();
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 SetAxis(const unsigned int _index,
61  const ignition::math::Vector3d &_axis);
62 
63  // Documentation inherited
64  public: virtual double PositionImpl(const unsigned int _index) const;
65 
66  // Documentation inherited
67  public: virtual double GetVelocity(unsigned int _index) const;
68 
69  // Documentation inherited
70  public: virtual void SetVelocity(unsigned int _index, double _angle);
71 
72  // Documentation inherited
73  public: virtual void SetParam(unsigned int _parameter, double _value);
74 
75  // Documentation inherited.
76  public: virtual void SetUpperLimit(const unsigned int _index,
77  const double _limit);
78 
79  // Documentation inherited.
80  public: virtual void SetLowerLimit(const unsigned int _index,
81  const double _limit);
82 
83  // Documentation inherited.
84  public: virtual bool SetParam(const std::string &_key,
85  unsigned int _index,
86  const boost::any &_value);
87 
88  // Documentation inherited.
89  public: virtual double GetParam(const std::string &_key,
90  unsigned int _index);
91 
92  // Documentation inherited
93  public: virtual double GetParam(unsigned int _parameter) const;
94 
95  // Documentation inherited
96  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
97  };
99  }
100 }
101 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A universal joint.
Definition: ODEUniversalJoint.hh:36
A universal joint.
Definition: UniversalJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77