ODEUniversalJoint.hh
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1 /*
2  * Copyright (C) 2012-2016 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
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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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  public UniversalJoint<ODEJoint>
35  {
39  public: ODEUniversalJoint(dWorldID _worldId, BasePtr _parent);
40 
42  public: virtual ~ODEUniversalJoint();
43 
44  // Documentation inherited
45  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
46 
47  // Documentation inherited
48  public: virtual void SetAnchor(unsigned int _index,
49  const math::Vector3 &_anchor);
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 double GetVelocity(unsigned int _index) const;
63 
64  // Documentation inherited
65  public: virtual void SetVelocity(unsigned int _index, double _angle);
66 
67  // Documentation inherited
68  public: virtual void SetParam(unsigned int _parameter, double _value);
69 
70  // Documentation inherited.
71  public: virtual bool SetHighStop(unsigned int _index,
72  const math::Angle &_angle);
73 
74  // Documentation inherited.
75  public: virtual bool SetLowStop(unsigned int _index,
76  const math::Angle &_angle);
77 
78  // Documentation inherited.
79  public: virtual bool SetParam(const std::string &_key,
80  unsigned int _index,
81  const boost::any &_value);
82 
83  // Documentation inherited.
84  public: virtual double GetParam(const std::string &_key,
85  unsigned int _index);
86 
87  // Documentation inherited
88  public: virtual double GetParam(unsigned int _parameter) const;
89 
90  // Documentation inherited
91  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
92  };
93  }
94 }
95 #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 universal joint.
Definition: ODEUniversalJoint.hh:33
A universal joint.
Definition: UniversalJoint.hh:36
An angle and related functions.
Definition: Angle.hh:53