SimbodyHinge2Joint.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef _SIMBODY_HINGE2JOINT_HH_
19 #define _SIMBODY_HINGE2JOINT_HH_
20 
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
38  public Hinge2Joint<SimbodyJoint>
39  {
41  public: SimbodyHinge2Joint(SimTK::MultibodySystem *world,
42  BasePtr _parent);
43 
45  public: virtual ~SimbodyHinge2Joint();
46 
47  // Documentation inherited.
48  protected: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual math::Vector3 GetAnchor(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::Vector3 GetAxis(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 math::Vector3 GetGlobalAxis(unsigned int _index) const;
68 
69  // Documentation inherited
70  protected: virtual math::Angle GetAngleImpl(unsigned int _index) const;
71 
73  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
74  };
76  }
77 }
78 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
A two axis hinge joint.
Definition: Hinge2Joint.hh:42
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A two axis hinge joint.
Definition: SimbodyHinge2Joint.hh:37
An angle and related functions.
Definition: Angle.hh:53