ODEBallJoint.hh
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1 /*
2  * Copyright (C) 2012-2015 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 /* Desc: An ODE ball joint
18  * Author: Nate Koenig
19  * Date: 13 Oct 2009
20  */
21 
22 #ifndef _ODEBALLJOINT_HH_
23 #define _ODEBALLJOINT_HH_
24 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
34  class GAZEBO_VISIBLE ODEBallJoint : public BallJoint<ODEJoint>
35  {
39  public: ODEBallJoint(dWorldID _worldId, BasePtr _parent);
40 
42  public: virtual ~ODEBallJoint();
43 
44  // Documentation inherited
45  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
46 
47  // Documentation inherited
48  public: virtual void SetAnchor(unsigned int _index,
49  const math::Vector3 &_anchor);
50 
51  // Documentation inherited
52  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
53 
54  // Documentation inherited
55  public: virtual void SetVelocity(unsigned int _index, double _angle);
56 
57  // Documentation inherited
58  public: virtual double GetVelocity(unsigned int _index) const;
59 
60  // Documentation inherited
61  public: virtual double GetMaxForce(unsigned int _index);
62 
63  // Documentation inherited
64  public: virtual void SetMaxForce(unsigned int _index, double _t);
65 
66  // Documentation inherited
67  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
68 
69  // Documentation inherited.
70  public: virtual void SetAxis(unsigned int _index,
71  const math::Vector3 &_axis);
72 
73  // Documentation inherited.
74  public: virtual math::Angle GetHighStop(unsigned int _index);
75 
76  // Documentation inherited.
77  public: virtual math::Angle GetLowStop(unsigned int _index);
78 
79  // Documentation inherited.
80  public: virtual bool SetHighStop(unsigned int _index,
81  const math::Angle &_angle);
82 
83  // Documentation inherited.
84  public: virtual bool SetLowStop(unsigned int _index,
85  const math::Angle &_angle);
86 
87  // Documentation inherited.
88  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
89  };
90  }
91 }
92 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
An ODEBallJoint.
Definition: ODEBallJoint.hh:34
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
Base class for a ball joint.
Definition: BallJoint.hh:40