ODESliderJoint.hh

Go to the documentation of this file.

/*
 * Copyright 2011 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A slider or primastic joint
 * Author: Nate Koenig, Andrew Howard
 * Date: 21 May 2003
 */

#ifndef ODESLIDERJOINT_HH
#define ODESLIDERJOINT_HH

#include "physics/SliderJoint.hh"
#include "physics/ode/ODEJoint.hh"

namespace gazebo
{
  namespace physics
  {

    class ODESliderJoint : public SliderJoint<ODEJoint>
    {
      public: ODESliderJoint(dWorldID worldId, BasePtr _parent);

      public: virtual ~ODESliderJoint();

      protected: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual math::Vector3 GetGlobalAxis(int index) const;

      public: virtual void SetAxis(int index, const math::Vector3 &axis);

      public: virtual void SetDamping(int _index, double _damping);

      public: void ApplyDamping();

      public: virtual math::Angle GetAngleImpl(int index) const;

      public: virtual double GetVelocity(int index) const;

      public: virtual void SetVelocity(int index, double angle);

      public: virtual void SetForce(int index, double force);

      public: virtual void SetMaxForce(int index, double t);

      public: virtual double GetMaxForce(int index);

      public: virtual double GetParam(int parameter) const;

      public: virtual void SetParam(int parameter, double value);
    };

  }
}
#endif