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DARTBallJoint.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_DARTBALLJOINT_HH_
19 #define _GAZEBO_DARTBALLJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
30  class GAZEBO_VISIBLE DARTBallJoint : public BallJoint<DARTJoint>
31  {
34  public: DARTBallJoint(BasePtr _parent);
35 
37  public: virtual ~DARTBallJoint();
38 
39  // Documentation inherited.
40  public: virtual void Load(sdf::ElementPtr _sdf);
41 
42  // Documentation inherited.
43  public: virtual void Init();
44 
45  // Documentation inherited
46  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
47 
48  // Documentation inherited
49  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
50 
51  // Documentation inherited
52  public: virtual void SetVelocity(unsigned int _index, double _angle);
53 
54  // Documentation inherited
55  public: virtual double GetVelocity(unsigned int _index) const;
56 
57  // Documentation inherited
58  public: virtual double GetMaxForce(unsigned int _index);
59 
60  // Documentation inherited
61  public: virtual void SetMaxForce(unsigned int _index, double _t);
62 
63  // Documentation inherited
64  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
65 
66  // Documentation inherited.
67  protected: void SetForceImpl(unsigned int _index, double _torque);
68 
69  // Documentation inherited.
70  public: virtual void SetAxis(unsigned int _index,
71  const math::Vector3 &_axis);
72 
73  // Documentation inherited.
74  public: virtual math::Angle GetHighStop(unsigned int _index);
75 
76  // Documentation inherited.
77  public: virtual math::Angle GetLowStop(unsigned int _index);
78 
79  // Documentation inherited.
80  public: virtual bool SetHighStop(unsigned int _index,
81  const math::Angle &_angle);
82 
83  // Documentation inherited.
84  public: virtual bool SetLowStop(unsigned int _index,
85  const math::Angle &_angle);
86 
88  protected: dart::dynamics::BallJoint *dtBallJoint;
89  };
90  }
91 }
92 #endif