ODEUniversalJoint.hh
Go to the documentation of this file.
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 #ifndef _ODEUNIVERSALJOINT_HH_
18 #define _ODEUNIVERSALJOINT_HH_
19 
20 #include <boost/any.hpp>
21 #include <string>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34  {
38  public: ODEUniversalJoint(dWorldID _worldId, BasePtr _parent);
39 
41  public: virtual ~ODEUniversalJoint();
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 math::Angle GetAngleImpl(unsigned int _index) const;
59 
60  // Documentation inherited
61  public: virtual double GetVelocity(unsigned int _index) const;
62 
63  // Documentation inherited
64  public: virtual void SetVelocity(unsigned int _index, double _angle);
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 void SetParam(unsigned int _parameter, double _value);
74 
75  // Documentation inherited.
76  public: virtual bool SetHighStop(unsigned int _index,
77  const math::Angle &_angle);
78 
79  // Documentation inherited.
80  public: virtual bool SetLowStop(unsigned int _index,
81  const math::Angle &_angle);
82 
83  // Documentation inherited.
84  public: virtual bool SetParam(const std::string &_key,
85  unsigned int _index,
86  const boost::any &_value);
87 
88  // Documentation inherited.
89  public: virtual double GetParam(const std::string &_key,
90  unsigned int _index);
91 
92  // Documentation inherited
93  public: virtual double GetParam(unsigned int _parameter) const;
94 
95  // Documentation inherited
96  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
97  };
98  }
99 }
100 #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 universal joint.
Definition: ODEUniversalJoint.hh:33
A universal joint.
Definition: UniversalJoint.hh:36
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48