ODEFixedJoint.hh
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1 /*
2  * Copyright (C) 2015 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
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,
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _GAZEBO_ODEFIXEDJOINT_HH_
19 #define _GAZEBO_ODEFIXEDJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
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 ignition::math::Vector3d Anchor(
48  const unsigned int _index) const;
49 
50  // Documentation inherited
51  public: virtual void SetAnchor(const unsigned int _index,
52  const ignition::math::Vector3d &_anchor);
53 
54  // Documentation inherited
55  public: virtual ignition::math::Vector3d GlobalAxis(
56  const unsigned int _index) const;
57 
58  // Documentation inherited
59  public: virtual void SetAxis(const unsigned int _index,
60  const ignition::math::Vector3d &_axis);
61 
62  // Documentation inherited
63  public: virtual double PositionImpl(const unsigned int _index) const;
64 
65  // Documentation inherited
66  public: virtual void SetVelocity(unsigned int _index, double _angle);
67 
68  // Documentation inherited
69  public: virtual double GetVelocity(unsigned int _index) const;
70 
71  // Documentation inherited
72  public: virtual void Attach(LinkPtr _parent, LinkPtr _child);
73 
74  // Documentation inherited
75  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
76  };
78  }
79 }
80 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: ODEFixedJoint.hh:33
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77