SimbodyFixedJoint.hh
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1 /*
2  * Copyright (C) 2015 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 _GAZEBO_SIMBODY_FIXEDJOINT_HH_
19 #define _GAZEBO_SIMBODY_FIXEDJOINT_HH_
20 
21 #include <vector>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GZ_PHYSICS_VISIBLE SimbodyFixedJoint : public FixedJoint<SimbodyJoint>
38  {
42  public: SimbodyFixedJoint(SimTK::MultibodySystem *world, BasePtr _parent);
43 
45  public: virtual ~SimbodyFixedJoint();
46 
47  // Documentation inherited.
48  protected: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual double GetVelocity(unsigned int _index) const;
52 
53  // Documentation inherited.
54  public: virtual void SetVelocity(unsigned int _index, double _angle);
55 
56  // Documentation inherited.
57  public: virtual void SetForceImpl(unsigned int _index, double _torque);
58 
59  // Documentation inherited.
60  public: virtual ignition::math::Vector3d GlobalAxis(
61  const unsigned int _index) const;
62 
63  // Documentation inherited.
64  public: virtual double PositionImpl(const unsigned int _index) const;
65  };
67  }
68 }
69 #endif
A fixed joint rigidly connecting two bodies.
Definition: SimbodyFixedJoint.hh:37
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77