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SimbodyUniversalJoint.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_UNIVERSAL_JOINT_HH_
19 #define _SIMBODY_UNIVERSAL_JOINT_HH_
20 
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class SimbodyUniversalJoint : public UniversalJoint<SimbodyJoint>
35  {
39  public: SimbodyUniversalJoint(SimTK::MultibodySystem *_world,
40  BasePtr _parent);
41 
43  public: virtual ~SimbodyUniversalJoint();
44 
45  // Documentation inherited.
46  public: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: virtual void Init();
50 
51  // Documentation inherited.
52  public: virtual void SetDamping(int _index, double _damping);
53 
54  // Documentation inherited.
55  public: virtual math::Vector3 GetAnchor(int _index) const;
56 
57  // Documentation inherited.
58  public: virtual void SetAxis(int _index, const math::Vector3 &_axis);
59 
60  // Documentation inherited.
61  public: virtual math::Vector3 GetAxis(int _index) const;
62 
63  // Documentation inherited.
64  public: virtual void SetVelocity(int _index, double _angle);
65 
66  // Documentation inherited.
67  public: virtual double GetVelocity(int _index) const;
68 
69  // Documentation inherited.
70  public: virtual void SetMaxForce(int _index, double _t);
71 
72  // Documentation inherited.
73  public: virtual double GetMaxForce(int _index);
74 
75  // Documentation inherited.
76  public: virtual void SetHighStop(int _index, const math::Angle &_angle);
77 
78  // Documentation inherited.
79  public: virtual void SetLowStop(int _index, const math::Angle &_angle);
80 
81  // Documentation inherited.
82  public: virtual math::Angle GetHighStop(int _index);
83 
84  // Documentation inherited.
85  public: virtual math::Angle GetLowStop(int _index);
86 
87  // Documentation inherited.
88  public: virtual math::Vector3 GetGlobalAxis(int _index) const;
89 
90  // Documentation inherited.
91  protected: virtual math::Angle GetAngleImpl(int _index) const;
92 
93  // Documentation inherited.
94  protected: virtual void SetForceImpl(int _index, double _torque);
95  };
97  }
98 }
99 #endif