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SimbodyHingeJoint.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 _SIMBODY_HINGEJOINT_HH_
19 #define _SIMBODY_HINGEJOINT_HH_
20 
21 #include <vector>
22 
23 #include "gazebo/math/Angle.hh"
24 #include "gazebo/math/Vector3.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
39  {
41  public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
42 
44  public: virtual ~SimbodyHingeJoint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: virtual void SetDamping(int _index, double _damping);
51 
52  // Documentation inherited.
53  public: void SetAxis(int _index, const math::Vector3 &_axis);
54 
55  // Documentation inherited.
56  public: virtual void SetVelocity(int _index, double _rate);
57 
58  // Documentation inherited.
59  public: virtual double GetVelocity(int _index) const;
60 
61  // Documentation inherited.
62  public: virtual void SetMaxForce(int _index, double _t);
63 
64  // Documentation inherited.
65  public: virtual double GetMaxForce(int _index);
66 
67  // Documentation inherited.
68  public: virtual void SetHighStop(int _index, const math::Angle &_angle);
69 
70  // Documentation inherited.
71  public: virtual void SetLowStop(int _index, const math::Angle &_angle);
72 
73  // Documentation inherited.
74  public: virtual math::Angle GetHighStop(int _index);
75 
76  // Documentation inherited.
77  public: virtual math::Angle GetLowStop(int _index);
78 
79  // Documentation inherited.
80  public: virtual math::Vector3 GetGlobalAxis(int _index) const;
81 
83  public: virtual void SaveSimbodyState(const SimTK::State &_state);
84 
86  public: virtual void RestoreSimbodyState(SimTK::State &_state);
87 
88  // Documentation inherited.
89  protected: virtual math::Angle GetAngleImpl(int _index) const;
90 
91  // Documentation inherited.
92  protected: virtual void SetForceImpl(int _index, double _torque);
93 
95  private: std::vector<double> simbodyQ;
96 
98  private: std::vector<double> simbodyU;
99  };
101  }
102 }
103 #endif