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gazebo
physics
simbody
SimbodyBallJoint.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SIMBODYBALLJOINT_HH_
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#define _SIMBODYBALLJOINT_HH_
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#include "
gazebo/physics/BallJoint.hh
"
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#include "
gazebo/physics/simbody/SimbodyJoint.hh
"
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#include "
gazebo/physics/simbody/SimbodyPhysics.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
GZ_PHYSICS_VISIBLE
SimbodyBallJoint
:
public
BallJoint
<SimbodyJoint>
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{
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public
:
SimbodyBallJoint
(SimTK::MultibodySystem *_world,
BasePtr
_parent);
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public
:
virtual
~
SimbodyBallJoint
();
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// Documentation inherited.
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public
:
virtual
void
Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public
: ignition::math::Vector3d Anchor(
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const
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
void
SetVelocity(
unsigned
int
_index,
double
_angle);
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// Documentation inherited.
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public
:
virtual
double
GetVelocity(
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
double
PositionImpl(
const
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
ignition::math::Vector3d GlobalAxis(
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const
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
void
SetAxis(
const
unsigned
int
_index,
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const
ignition::math::Vector3d &_axis);
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// Documentation inherited.
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public
:
virtual
double
UpperLimit(
const
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
double
LowerLimit(
const
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
void
SetUpperLimit(
const
unsigned
int
_index,
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const
double
_limit);
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// Documentation inherited.
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public
:
virtual
void
SetLowerLimit(
const
unsigned
int
_index,
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const
double
_limit);
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// Documentation inherited.
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protected
:
virtual
void
SetForceImpl(
unsigned
int
_index,
double
_torque);
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};
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}
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}
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#endif
gazebo
Forward declarations for the common classes.
Definition:
Animation.hh:26
gazebo::physics::SimbodyBallJoint
SimbodyBallJoint class models a ball joint in Simbody.
Definition:
SimbodyBallJoint.hh:35
system.hh
BallJoint.hh
SimbodyPhysics.hh
SimbodyJoint.hh
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition:
PhysicsTypes.hh:78
gazebo::physics::BallJoint
Base class for a ball joint.
Definition:
BallJoint.hh:40