SimbodyFixedJoint.hh
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1 /*
2  * Copyright (C) 2015 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.
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17 
18 #ifndef _GAZEBO_SIMBODY_FIXEDJOINT_HH_
19 #define _GAZEBO_SIMBODY_FIXEDJOINT_HH_
20 
21 #include <vector>
22 
23 #include "gazebo/math/Vector3.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class GZ_PHYSICS_VISIBLE SimbodyFixedJoint : public FixedJoint<SimbodyJoint>
39  {
43  public: SimbodyFixedJoint(SimTK::MultibodySystem *world, BasePtr _parent);
44 
46  public: virtual ~SimbodyFixedJoint();
47 
48  // Documentation inherited.
49  protected: virtual void Load(sdf::ElementPtr _sdf);
50 
51  // Documentation inherited.
52  public: virtual double GetVelocity(unsigned int _index) const;
53 
54  // Documentation inherited.
55  public: virtual void SetVelocity(unsigned int _index, double _angle);
56 
57  // Documentation inherited.
58  public: virtual void SetForceImpl(unsigned int _index, double _torque);
59 
60  // Documentation inherited.
61  public: virtual ignition::math::Vector3d GlobalAxis(
62  const unsigned int _index) const;
63 
64  // Documentation inherited.
65  public: virtual double PositionImpl(const unsigned int _index) const;
66  };
68  }
69 }
70 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A fixed joint rigidly connecting two bodies.
Definition: SimbodyFixedJoint.hh:38
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77