ODEScrewJoint.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
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16 */
17 #ifndef _ODESCREWJOINT_HH_
18 #define _ODESCREWJOINT_HH_
19 
20 #include <string>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
30  class GAZEBO_VISIBLE ODEScrewJoint : public ScrewJoint<ODEJoint>
31  {
35  public: ODEScrewJoint(dWorldID _worldId, BasePtr _parent);
36 
38  public: virtual ~ODEScrewJoint();
39 
40  // Documentation inherited
41  public: virtual void Load(sdf::ElementPtr _sdf);
42 
43  // Documentation inherited
44  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
45 
46  // Documentation inherited
47  public: virtual void SetAnchor(unsigned int _index,
48  const math::Vector3 &_anchor);
49 
50  // Documentation inherited
51  public: virtual math::Vector3 GetGlobalAxis(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 void SetThreadPitch(unsigned int _index,
59  double _threadPitch);
60 
61  // Documentation inherited
62  public: virtual void SetThreadPitch(double _threadPitch);
63 
64  // Documentation inherited
65  public: virtual double GetThreadPitch(unsigned int _index);
66 
67  // Documentation inherited
68  public: virtual double GetThreadPitch();
69 
70  // Documentation inherited
71  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
72 
73  // Documentation inherited
74  public: virtual double GetVelocity(unsigned int _index) const;
75 
76  // Documentation inherited
77  public: virtual void SetVelocity(unsigned int _index, double _angle);
78 
79  // Documentation inherited
80  public: virtual void SetMaxForce(unsigned int _index, double _t);
81 
82  // Documentation inherited
83  public: virtual double GetMaxForce(unsigned int _index);
84 
85  // Documentation inherited
86  public: virtual double GetParam(unsigned int _parameter) const;
87 
88  // Documentation inherited
89  public: virtual void SetParam(unsigned int _parameter, double _value);
90 
91  // Documentation inherited.
92  public: virtual bool SetParam(const std::string &_key,
93  unsigned int _index,
94  const boost::any &_value);
95 
96  // Documentation inherited.
97  public: virtual double GetParam(const std::string &_key,
98  unsigned int _index);
99 
100  // Documentation inherited
101  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
102  };
103  }
104 }
105 #endif
A screw joint.
Definition: ODEScrewJoint.hh:30
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.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