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SimbodyHinge2Joint.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_HINGE2JOINT_HH_
19 #define _SIMBODY_HINGE2JOINT_HH_
20 
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GAZEBO_VISIBLE SimbodyHinge2Joint : public Hinge2Joint<SimbodyJoint>
38  {
40  public: SimbodyHinge2Joint(SimTK::MultibodySystem *world,
41  BasePtr _parent);
42 
44  public: virtual ~SimbodyHinge2Joint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
51 
52  // Documentation inherited.
53  public: virtual void SetAxis(unsigned int _index,
54  const math::Vector3 &_axis);
55 
56  // Documentation inherited.
57  public: virtual math::Vector3 GetAxis(unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual double GetVelocity(unsigned int _index) const;
61 
62  // Documentation inherited.
63  public: virtual void SetVelocity(unsigned int _index, double _angle);
64 
65  // Documentation inherited.
66  public: virtual void SetMaxForce(unsigned int _index, double _t);
67 
68  // Documentation inherited.
69  public: virtual double GetMaxForce(unsigned int _index);
70 
71  // Documentation inherited.
72  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
73 
74  // Documentation inherited
75  protected: virtual math::Angle GetAngleImpl(unsigned int _index) const;
76 
78  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
79  };
81  }
82 }
83 #endif