ODEGearboxJoint.hh
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1 /*
2  * Copyright (C) 2012 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 _ODEGEARBOXJOINT_HH_
19 #define _ODEGEARBOXJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
34  class GZ_PHYSICS_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
35  {
39  public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
40 
42  public: virtual ~ODEGearboxJoint();
43 
44  // Documentation inherited
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited
48  public: virtual void Init();
49 
50  // Documentation inherited
51  public: virtual ignition::math::Vector3d Anchor(
52  const unsigned int _index) const;
53 
54  // Documentation inherited
55  public: virtual void SetAnchor(const unsigned int _index,
56  const ignition::math::Vector3d &_anchor);
57 
58  // Documentation inherited
59  public: virtual ignition::math::Vector3d GlobalAxis(
60  const unsigned int _index) const;
61 
62  // Documentation inherited
63  public: virtual void SetAxis(const unsigned int _index,
64  const ignition::math::Vector3d &_axis);
65 
66  // Documentation inherited
67  public: virtual void SetGearboxRatio(double _gearRatio);
68 
69  // Documentation inherited
70  public: virtual double PositionImpl(const unsigned int _index) const;
71 
72  // Documentation inherited
73  public: virtual void SetVelocity(unsigned int _index, double _angle);
74 
75  // Documentation inherited
76  public: virtual double GetVelocity(unsigned int _index) const;
77 
78  // Documentation inherited
79  public: virtual double GetParam(unsigned int _parameter) const;
80 
81  // Documentation inherited
82  public: virtual void SetParam(unsigned int _parameter, double _value);
83 
84  // Documentation inherited
85  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
86 
89  private: void SetReferenceBody(LinkPtr _body);
90  };
92  }
93 }
94 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
A double axis gearbox joint.
Definition: ODEGearboxJoint.hh:34
A double axis gearbox joint.
Definition: GearboxJoint.hh:42
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77