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SimbodyHingeJoint.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_HINGEJOINT_HH_
19 #define _SIMBODY_HINGEJOINT_HH_
20 
21 #include <vector>
22 
23 #include "gazebo/math/Angle.hh"
24 #include "gazebo/math/Vector3.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace physics
33  {
37 
39  class GAZEBO_VISIBLE SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
40  {
42  public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
43 
45  public: virtual ~SimbodyHingeJoint();
46 
47  // Documentation inherited.
48  protected: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: void SetAxis(unsigned int _index, const math::Vector3 &_axis);
52 
53  // Documentation inherited.
54  public: virtual void SetVelocity(unsigned int _index, double _rate);
55 
56  // Documentation inherited.
57  public: virtual double GetVelocity(unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual void SetMaxForce(unsigned int _index, double _t);
61 
62  // Documentation inherited.
63  public: virtual double GetMaxForce(unsigned int _index);
64 
65  // Documentation inherited.
66  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
67 
69  public: virtual void SaveSimbodyState(const SimTK::State &_state);
70 
72  public: virtual void RestoreSimbodyState(SimTK::State &_state);
73 
74  // Documentation inherited.
75  protected: virtual math::Angle GetAngleImpl(unsigned int _index) const;
76 
77  // Documentation inherited.
78  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
79 
81  private: std::vector<double> simbodyQ;
82 
84  private: std::vector<double> simbodyU;
85  };
87  }
88 }
89 #endif