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DARTBallJoint.hh
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1 /*
2  * Copyright 2014 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 _GAZEBO_DARTBALLJOINT_HH_
19 #define _GAZEBO_DARTBALLJOINT_HH_
20 
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
29  class DARTBallJoint : public BallJoint<DARTJoint>
30  {
33  public: DARTBallJoint(BasePtr _parent);
34 
36  public: virtual ~DARTBallJoint();
37 
38  // Documentation inherited.
39  public: virtual void Load(sdf::ElementPtr _sdf);
40 
41  // Documentation inherited.
42  public: virtual void Init();
43 
44  // Documentation inherited
45  public: virtual math::Vector3 GetAnchor(int _index) const;
46 
47  // Documentation inherited
48  public: virtual math::Vector3 GetGlobalAxis(int /*_index*/) const
49  {return math::Vector3();}
50 
51  // Documentation inherited
52  public: virtual void SetVelocity(int /*index*/, double /*angle*/) {}
53 
54  // Documentation inherited
55  public: virtual double GetVelocity(int /*index*/) const {return 0;}
56 
57  // Documentation inherited
58  public: virtual double GetMaxForce(int /*index*/) {return 0;}
59 
60  // Documentation inherited
61  public: virtual void SetMaxForce(int /*index*/, double /*t*/) {}
62 
63  // Documentation inherited
64  public: virtual math::Angle GetAngleImpl(int /*index*/) const
65  {return math::Angle(0);}
66 
67  // Documentation inherited.
68  protected: void SetForceImpl(int /*_index*/, double /*_torque*/)
69  {
70  gzerr << "Not implemented";
71  }
72 
74  protected: dart::dynamics::BallJoint *dtBallJoint;
75  };
76  }
77 }
78 #endif