SimbodyBallJoint.hh
Go to the documentation of this file.
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 
18 #ifndef _SIMBODYBALLJOINT_HH_
19 #define _SIMBODYBALLJOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodyBallJoint : public BallJoint<SimbodyJoint>
36  {
38  public: SimbodyBallJoint(SimTK::MultibodySystem *_world, BasePtr _parent);
39 
41  public: virtual ~SimbodyBallJoint();
42 
43  // Documentation inherited.
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited.
47  public: ignition::math::Vector3d Anchor(
48  const unsigned int _index) const;
49 
50  // Function not implemented, will be removed in Gazebo 9.
51  public: virtual math::Vector3 GetAxis(unsigned int /*_index*/) const
53  {
54 #ifndef _WIN32
55  #pragma GCC diagnostic push
56  #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
57 #endif
58  return math::Vector3();
59 #ifndef _WIN32
60  #pragma GCC diagnostic pop
61 #endif
62  }
63 
64  // Documentation inherited.
65  public: virtual void SetVelocity(unsigned int _index, double _angle);
66 
67  // Documentation inherited.
68  public: virtual double GetVelocity(unsigned int _index) const;
69 
70  // Documentation inherited.
71  public: virtual double PositionImpl(const unsigned int _index) const;
72 
73  // Documentation inherited.
74  public: virtual ignition::math::Vector3d GlobalAxis(
75  const unsigned int _index) const;
76 
77  // Documentation inherited.
78  public: virtual void SetAxis(const unsigned int _index,
79  const ignition::math::Vector3d &_axis);
80 
81  // Documentation inherited.
82  public: virtual double UpperLimit(const unsigned int _index) const;
83 
84  // Documentation inherited.
85  public: virtual double LowerLimit(const unsigned int _index) const;
86 
87  // Documentation inherited.
88  public: virtual void SetUpperLimit(const unsigned int _index,
89  const double _limit);
90 
91  // Documentation inherited.
92  public: virtual void SetLowerLimit(const unsigned int _index,
93  const double _limit);
94 
95  // Documentation inherited.
96  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
97  };
99  }
100 }
101 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
SimbodyBallJoint class models a ball joint in Simbody.
Definition: SimbodyBallJoint.hh:35
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
virtual math::Vector3 GetAxis(unsigned int) const GAZEBO_DEPRECATED(8.0)
Definition: SimbodyBallJoint.hh:51
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Base class for a ball joint.
Definition: BallJoint.hh:40