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DARTHingeJoint.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_DARTHINGEJOINT_HH_
19 #define _GAZEBO_DARTHINGEJOINT_HH_
20 
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
23 
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
32  class DARTHingeJoint : public HingeJoint<DARTJoint>
33  {
36  public: DARTHingeJoint(BasePtr _parent);
37 
39  public: virtual ~DARTHingeJoint();
40 
41  // Documentation inherited.
42  public: virtual void Load(sdf::ElementPtr _sdf);
43 
44  // Documentation inherited.
45  public: virtual void Init();
46 
47  // Documentation inherited
48  public: virtual math::Vector3 GetAnchor(int _index) const;
49 
50  // Documentation inherited
51  public: virtual math::Vector3 GetGlobalAxis(int _index) const;
52 
53  // Documentation inherited
54  public: virtual void SetAxis(int _index, const math::Vector3 &_axis);
55 
56  // Documentation inherited
57  public: virtual math::Angle GetAngleImpl(int _index) const;
58 
59  // Documentation inherited
60  public: virtual void SetVelocity(int _index, double _vel);
61 
62  // Documentation inherited
63  public: virtual double GetVelocity(int _index) const;
64 
65  // Documentation inherited
66  public: virtual void SetMaxForce(int _index, double _force);
67 
68  // Documentation inherited
69  public: virtual double GetMaxForce(int _index);
70 
71  // Documentation inherited
72  protected: virtual void SetForceImpl(int _index, double _effort);
73 
75  protected: dart::dynamics::RevoluteJoint *dtRevoluteJoint;
76  };
77  }
78 }
79 #endif