SimbodySliderJoint.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 
18 #ifndef _SIMBODY_SLIDERJOINT_HH_
19 #define _SIMBODY_SLIDERJOINT_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 SimbodySliderJoint :
37  public SliderJoint<SimbodyJoint>
38  {
42  public: SimbodySliderJoint(SimTK::MultibodySystem *world,
43  BasePtr _parent);
44 
46  public: virtual ~SimbodySliderJoint();
47 
48  // Documentation inherited.
49  public: virtual void SetAxis(const unsigned int _index,
50  const ignition::math::Vector3d &_axis);
51 
52  // Documentation inherited.
53  public: virtual void SetVelocity(unsigned int _index, double _rate);
54 
55  // Documentation inherited.
56  public: virtual double GetVelocity(unsigned int _index) const;
57 
58  // Documentation inherited.
59  public: virtual ignition::math::Vector3d GlobalAxis(
60  const unsigned int _index) const;
61 
62  // Documentation inherited.
63  public: virtual double PositionImpl(const unsigned int _index) const;
64 
65  // Documentation inherited.
66  protected: virtual void Load(sdf::ElementPtr _sdf);
67 
68  // Documentation inherited.
69  protected: virtual void SetForceImpl(unsigned int _index, double _force);
70  };
71 
73  }
74 }
75 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A slider joint.
Definition: SliderJoint.hh:38
A slider joint.
Definition: SimbodySliderJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77