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SimbodySliderJoint.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_SLIDERJOINT_HH_
19 #define _SIMBODY_SLIDERJOINT_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 SimbodySliderJoint : public SliderJoint<SimbodyJoint>
38  {
42  public: SimbodySliderJoint(SimTK::MultibodySystem *world,
43  BasePtr _parent);
44 
46  public: virtual ~SimbodySliderJoint();
47 
48  // Documentation inherited.
49  public: virtual void SetAxis(unsigned int _index,
50  const math::Vector3 &_axis);
51 
52  // Documentation inherited.
53  public: virtual void SetVelocity(unsigned int _index, double _rate);
54 
55  // Documentation inherited.
56  public: virtual double GetVelocity(unsigned int _index) const;
57 
58  // Documentation inherited.
59  public: virtual void SetMaxForce(unsigned int _index, double _t);
60 
61  // Documentation inherited.
62  public: virtual double GetMaxForce(unsigned int _index);
63 
64  // Documentation inherited.
65  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
66 
67  // Documentation inherited.
68  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
69 
70  // Documentation inherited.
71  protected: virtual void Load(sdf::ElementPtr _sdf);
72 
73  // Documentation inherited.
74  protected: virtual void SetForceImpl(unsigned int _index, double _force);
75  };
76 
78  }
79 }
80 #endif