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SimbodyBallJoint.hh
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1 /*
2  * Copyright (C) 2012-2014 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 _SIMBODYBALLJOINT_HH_
19 #define _SIMBODYBALLJOINT_HH_
20 
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class SimbodyBallJoint : public BallJoint<SimbodyJoint>
35  {
37  public: SimbodyBallJoint(SimTK::MultibodySystem *_world, BasePtr _parent);
38 
40  public: virtual ~SimbodyBallJoint();
41 
42  // Documentation inherited.
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
47  public: virtual void SetDamping(int _index, double _damping);
48 
49  // Documentation inherited.
50  public: virtual void Init();
51 
52  // Documentation inherited.
53  public: math::Vector3 GetAnchor(int _index) const;
54 
55  // Documentation inherited.
56  public: virtual math::Vector3 GetAxis(int /*_index*/) const
57  {return math::Vector3();}
58 
59  // Documentation inherited.
60  public: virtual void SetVelocity(int _index, double _angle);
61 
62  // Documentation inherited.
63  public: virtual double GetVelocity(int _index) const;
64 
65  // Documentation inherited.
66  public: virtual double GetMaxForce(int _index);
67 
68  // Documentation inherited.
69  public: virtual void SetMaxForce(int _index, double _t);
70 
71  // Documentation inherited.
72  public: virtual void SetHighStop(int _index, const math::Angle &_angle);
73 
74  // Documentation inherited.
75  public: virtual void SetLowStop(int _index, const math::Angle &_angle);
76 
77  // Documentation inherited.
78  public: virtual math::Angle GetAngleImpl(int _index) const;
79 
80  // Documentation inherited.
81  public: virtual math::Vector3 GetGlobalAxis(int _index) const;
82 
83  // Documentation inherited.
84  protected: virtual void SetForceImpl(int _index, double _torque);
85  };
87  }
88 }
89 #endif