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DARTHinge2Joint.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_DARTHINGE2JOINT_HH_
19 #define _GAZEBO_DARTHINGE2JOINT_HH_
20 
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
23 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
33  class GAZEBO_VISIBLE DARTHinge2Joint : public Hinge2Joint<DARTJoint>
34  {
37  public: DARTHinge2Joint(BasePtr _parent);
38 
40  public: virtual ~DARTHinge2Joint();
41 
42  // Documentation inherited
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
45  // Documentation inherited.
46  public: virtual void Init();
47 
48  // Documentation inherited
49  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
50 
51  // Documentation inherited
52  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
53 
54  // Documentation inherited
55  public: virtual void SetAxis(unsigned int _index,
56  const math::Vector3 &_axis);
57 
58  // Documentation inherited
59  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
60 
61  // Documentation inherited
62  public: virtual double GetVelocity(unsigned int _index) const;
63 
64  // Documentation inherited
65  public: virtual void SetVelocity(unsigned int _index, double _vel);
66 
67  // Documentation inherited
68  public: virtual void SetMaxForce(unsigned int _index, double _force);
69 
70  // Documentation inherited
71  public: virtual double GetMaxForce(unsigned int _index);
72 
73  // Documentation inherited
74  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
75 
77  protected: dart::dynamics::UniversalJoint *dtUniveralJoint;
78  };
79  }
80 }
81 #endif