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SimbodyScrewJoint.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_SCREWJOINT_HH_
19 #define _SIMBODY_SCREWJOINT_HH_
20 
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class SimbodyScrewJoint : public ScrewJoint<SimbodyJoint>
34  {
38  public: SimbodyScrewJoint(SimTK::MultibodySystem *_world,
39  BasePtr _parent);
40 
42  public: virtual ~SimbodyScrewJoint();
43 
44  // Documentation inherited.
45  protected: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited.
48  public: virtual void SetDamping(int _index, double _damping);
49 
50  // Documentation inherited.
51  public: virtual void Init();
52 
53  // Documentation inherited.
54  public: virtual void SetAxis(int _index, const math::Vector3 &_axis);
55 
56  // Documentation inherited.
57  public: virtual void SetThreadPitch(int _index, double _threadPitch);
58 
59  // Documentation inherited.
60  public: virtual double GetThreadPitch(unsigned int /*_index*/);
61 
62  // Documentation inherited.
63  public: virtual void SetHighStop(int _index, const math::Angle &_angle);
64 
65  // Documentation inherited.
66  public: virtual void SetLowStop(int _index, const math::Angle &_angle);
67 
68  // Documentation inherited.
69  public: virtual math::Angle GetHighStop(int _index);
70 
71  // Documentation inherited.
72  public: virtual math::Angle GetLowStop(int _index);
73 
74  // Documentation inherited.
75  public: virtual double GetVelocity(int _index) const;
76 
77  // Documentation inherited.
78  public: virtual void SetVelocity(int _index, double _angle);
79 
80  // Documentation inherited.
81  public: virtual void SetMaxForce(int _index, double _t);
82 
83  // Documentation inherited.
84  public: virtual double GetMaxForce(int _index);
85 
86  // Documentation inherited.
87  public: virtual math::Vector3 GetGlobalAxis(int _index) const;
88 
89  // Documentation inherited.
90  public: virtual math::Angle GetAngleImpl(int _index) const;
91 
92  // Documentation inherited.
93  protected: virtual void SetForceImpl(int _index, double _force);
94  };
96  }
97 }
98 #endif