ODEFixedJoint.hh
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1 /*
2  * Copyright (C) 2015-2016 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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17 
18 #ifndef _GAZEBO_ODEFIXEDJOINT_HH_
19 #define _GAZEBO_ODEFIXEDJOINT_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 ODEFixedJoint : public FixedJoint<ODEJoint>
34  {
38  public: ODEFixedJoint(dWorldID _worldId, BasePtr _parent);
39 
41  public: virtual ~ODEFixedJoint();
42 
43  // Documentation inherited
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited
47  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
48 
49  // Documentation inherited
50  public: virtual void SetAnchor(unsigned int _index,
51  const math::Vector3 &_anchor);
52 
53  // Documentation inherited
54  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
55 
56  // Documentation inherited
57  public: virtual void SetAxis(unsigned int _index,
58  const math::Vector3 &_axis);
59 
60  // Documentation inherited
61  public: virtual math::Angle GetAngleImpl(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 double GetVelocity(unsigned int _index) const;
68 
69  // Documentation inherited
70  public: virtual void Attach(LinkPtr _parent, LinkPtr _child);
71 
72  // Documentation inherited
73  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
74  };
75  }
76 }
77 #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 fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: ODEFixedJoint.hh:33
An angle and related functions.
Definition: Angle.hh:53
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:100