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
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
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16 */
17 
18 #ifndef _SIMBODY_HINGE2JOINT_HH_
19 #define _SIMBODY_HINGE2JOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodyHinge2Joint :
36  public Hinge2Joint<SimbodyJoint>
37  {
39  public: SimbodyHinge2Joint(SimTK::MultibodySystem *world,
40  BasePtr _parent);
41 
43  public: virtual ~SimbodyHinge2Joint();
44 
45  // Documentation inherited.
46  protected: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: virtual ignition::math::Vector3d Anchor(
50  const unsigned int _index) const;
51 
52  // Documentation inherited.
53  public: virtual void SetAxis(const unsigned int _index,
54  const ignition::math::Vector3d &_axis);
55 
56  // Documentation inherited.
57  public: virtual double GetVelocity(unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual void SetVelocity(unsigned int _index, double _angle);
61 
62  // Documentation inherited.
63  public: virtual ignition::math::Vector3d GlobalAxis(
64  const unsigned int _index) const;
65 
66  // Documentation inherited
67  protected: virtual double PositionImpl(const unsigned int _index) const;
68 
70  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
71  };
73  }
74 }
75 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
A two axis hinge joint.
Definition: SimbodyHinge2Joint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78