SimbodyFixedJoint.hh
Go to the documentation of this file.
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
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 
18 #ifndef _GAZEBO_SIMBODY_FIXEDJOINT_HH_
19 #define _GAZEBO_SIMBODY_FIXEDJOINT_HH_
20 
21 #include <vector>
22 
23 #include "gazebo/math/Angle.hh"
24 #include "gazebo/math/Vector3.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace physics
33  {
37 
39  class GZ_PHYSICS_VISIBLE SimbodyFixedJoint : public FixedJoint<SimbodyJoint>
40  {
44  public: SimbodyFixedJoint(SimTK::MultibodySystem *world, BasePtr _parent);
45 
47  public: virtual ~SimbodyFixedJoint();
48 
49  // Documentation inherited.
50  protected: virtual void Load(sdf::ElementPtr _sdf);
51 
52  // Documentation inherited.
53  public: virtual double GetVelocity(unsigned int _index) const;
54 
55  // Documentation inherited.
56  public: virtual void SetVelocity(unsigned int _index, double _angle);
57 
58  // Documentation inherited.
59  public: virtual void SetForceImpl(unsigned int _index, double _torque);
60 
61  // Documentation inherited.
62  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
63 
64  // Documentation inherited.
65  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
66  };
68  }
69 }
70 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
A fixed joint rigidly connecting two bodies.
Definition: SimbodyFixedJoint.hh:39
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
An angle and related functions.
Definition: Angle.hh:53