DARTHingeJoint.hh
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1 /*
2  * Copyright (C) 2014-2016 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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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_DARTHINGEJOINT_HH_
19 #define _GAZEBO_DARTHINGEJOINT_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  {
33  class GZ_PHYSICS_VISIBLE DARTHingeJoint : public HingeJoint<DARTJoint>
34  {
37  public: DARTHingeJoint(BasePtr _parent);
38 
40  public: virtual ~DARTHingeJoint();
41 
42  // Documentation inherited.
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
45  // Documentation inherited.
46  public: virtual void Init();
47 
48  // Documentation inherited
49  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
50 
51  // Documentation inherited
52  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
53 
54  // Documentation inherited
55  public: virtual void SetAxis(unsigned int _index,
56  const math::Vector3 &_axis);
57 
58  // Documentation inherited
59  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
60 
61  // Documentation inherited
62  public: virtual void SetVelocity(unsigned int _index, double _vel);
63 
64  // Documentation inherited
65  public: virtual double GetVelocity(unsigned int _index) const;
66 
67  // Documentation inherited
68  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
69  };
70  }
71 }
72 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A single axis hinge joint.
Definition: DARTHingeJoint.hh:33
A single axis hinge joint.
Definition: HingeJoint.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:53