SimbodyHinge2Joint.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_HINGE2JOINT_HH_
19 #define _SIMBODY_HINGE2JOINT_HH_
20 
21 #include "gazebo/math/Vector3.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
36  class GZ_PHYSICS_VISIBLE SimbodyHinge2Joint :
37  public Hinge2Joint<SimbodyJoint>
38  {
40  public: SimbodyHinge2Joint(SimTK::MultibodySystem *world,
41  BasePtr _parent);
42 
44  public: virtual ~SimbodyHinge2Joint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: virtual ignition::math::Vector3d Anchor(
51  const unsigned int _index) const;
52 
53  // Documentation inherited.
54  public: virtual void SetAxis(const unsigned int _index,
55  const ignition::math::Vector3d &_axis);
56 
57  // Function not implemented, will be removed in Gazebo 9.
58  public: virtual math::Vector3 GetAxis(unsigned int _index) const
59  GAZEBO_DEPRECATED(8.0);
60 
61  // Documentation inherited.
62  public: virtual double GetVelocity(unsigned int _index) const;
63 
64  // Documentation inherited.
65  public: virtual void SetVelocity(unsigned int _index, double _angle);
66 
67  // Documentation inherited.
68  public: virtual ignition::math::Vector3d GlobalAxis(
69  const unsigned int _index) const;
70 
71  // Documentation inherited
72  protected: virtual double PositionImpl(const unsigned int _index) const;
73 
75  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
76  };
78  }
79 }
80 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
A two axis hinge joint.
Definition: SimbodyHinge2Joint.hh:36
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77