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SimbodyUniversalJoint.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_UNIVERSAL_JOINT_HH_
19 #define _SIMBODY_UNIVERSAL_JOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
36  : public UniversalJoint<SimbodyJoint>
37  {
41  public: SimbodyUniversalJoint(SimTK::MultibodySystem *_world,
42  BasePtr _parent);
43 
45  public: virtual ~SimbodyUniversalJoint();
46 
47  // Documentation inherited.
48  public: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
52 
53  // Documentation inherited.
54  public: virtual void SetAxis(unsigned int _index,
55  const math::Vector3 &_axis);
56 
57  // Documentation inherited.
58  public: virtual math::Vector3 GetAxis(unsigned int _index) const;
59 
60  // Documentation inherited.
61  public: virtual void SetVelocity(unsigned int _index, double _rate);
62 
63  // Documentation inherited.
64  public: virtual double GetVelocity(unsigned int _index) const;
65 
66  // Documentation inherited.
67  public: virtual void SetMaxForce(unsigned int _index, double _t);
68 
69  // Documentation inherited.
70  public: virtual double GetMaxForce(unsigned int _index);
71 
72  // Documentation inherited.
73  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
74 
75  // Documentation inherited.
76  protected: virtual math::Angle GetAngleImpl(unsigned int _index) const;
77 
78  // Documentation inherited.
79  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
80  };
82  }
83 }
84 #endif