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SimbodyBallJoint.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 _SIMBODYBALLJOINT_HH_
19 #define _SIMBODYBALLJOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GAZEBO_VISIBLE SimbodyBallJoint : public BallJoint<SimbodyJoint>
36  {
38  public: SimbodyBallJoint(SimTK::MultibodySystem *_world, BasePtr _parent);
39 
41  public: virtual ~SimbodyBallJoint();
42 
43  // Documentation inherited.
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited.
47  public: math::Vector3 GetAnchor(unsigned int _index) const;
48 
49  // Documentation inherited.
50  public: virtual math::Vector3 GetAxis(unsigned int /*_index*/) const
51  {return math::Vector3();}
52 
53  // Documentation inherited.
54  public: virtual void SetVelocity(unsigned int _index, double _angle);
55 
56  // Documentation inherited.
57  public: virtual double GetVelocity(unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual double GetMaxForce(unsigned int _index);
61 
62  // Documentation inherited.
63  public: virtual void SetMaxForce(unsigned int _index, double _t);
64 
65  // Documentation inherited.
66  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
67 
68  // Documentation inherited.
69  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
70 
71  // Documentation inherited.
72  public: virtual void SetAxis(unsigned int _index,
73  const math::Vector3 &_axis);
74 
75  // Documentation inherited.
76  public: virtual math::Angle GetHighStop(unsigned int _index);
77 
78  // Documentation inherited.
79  public: virtual math::Angle GetLowStop(unsigned int _index);
80 
81  // Documentation inherited.
82  public: virtual bool SetHighStop(unsigned int _index,
83  const math::Angle &_angle);
84 
85  // Documentation inherited.
86  public: virtual bool SetLowStop(unsigned int _index,
87  const math::Angle &_angle);
88 
89  // Documentation inherited.
90  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
91  };
93  }
94 }
95 #endif