ODEGearboxJoint.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
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _ODEGEARBOXJOINT_HH_
19 #define _ODEGEARBOXJOINT_HH_
20 
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
23 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34  class GAZEBO_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
35  {
39  public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
40 
42  public: virtual ~ODEGearboxJoint();
43 
44  // Documentation inherited
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited
48  public: virtual void Init();
49 
50  // Documentation inherited
51  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
52 
53  // Documentation inherited
54  public: virtual void SetAnchor(unsigned int _index,
55  const math::Vector3 &_anchor);
56 
57  // Documentation inherited
58  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
59 
60  // Documentation inherited
61  public: virtual void SetAxis(unsigned int _index,
62  const math::Vector3 &_axis);
63 
64  // Documentation inherited
65  public: virtual void SetGearboxRatio(double _gearRatio);
66 
67  // Documentation inherited
68  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
69 
70  // Documentation inherited
71  public: virtual void SetVelocity(unsigned int _index, double _angle);
72 
73  // Documentation inherited
74  public: virtual double GetVelocity(unsigned int _index) const;
75 
76  // Documentation inherited
77  public: virtual void SetMaxForce(unsigned int _index, double _t);
78 
79  // Documentation inherited
80  public: virtual double GetMaxForce(unsigned int _index);
81 
82  // Documentation inherited
83  public: virtual double GetParam(unsigned int _parameter) const;
84 
85  // Documentation inherited
86  public: virtual void SetParam(unsigned int _parameter, double _value);
87 
88  // Documentation inherited
89  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
90 
93  private: void SetReferenceBody(LinkPtr _body);
94  };
95  }
96 }
97 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
A double axis gearbox joint.
Definition: ODEGearboxJoint.hh:34
A double axis gearbox joint.
Definition: GearboxJoint.hh:37
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:90