SimbodyHingeJoint.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
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_HINGEJOINT_HH_
19 #define _SIMBODY_HINGEJOINT_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 SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
38  {
40  public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
41 
43  public: virtual ~SimbodyHingeJoint();
44 
45  // Documentation inherited.
46  protected: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: void SetAxis(const unsigned int _index,
50  const ignition::math::Vector3d &_axis);
51 
52  // Documentation inherited.
53  public: virtual void SetVelocity(unsigned int _index, double _rate);
54 
55  // Documentation inherited.
56  public: virtual double GetVelocity(unsigned int _index) const;
57 
58  // Documentation inherited.
59  public: virtual ignition::math::Vector3d GlobalAxis(
60  const unsigned int _index) const;
61 
63  public: virtual void SaveSimbodyState(const SimTK::State &_state);
64 
66  public: virtual void RestoreSimbodyState(SimTK::State &_state);
67 
68  // Documentation inherited.
69  protected: virtual double PositionImpl(const unsigned int _index) const;
70 
71  // Documentation inherited.
72  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
73 
75  private: std::vector<double> simbodyQ;
76 
78  private: std::vector<double> simbodyU;
79  };
81  }
82 }
83 #endif
A single axis hinge joint.
Definition: SimbodyHingeJoint.hh:37
A single axis hinge joint.
Definition: HingeJoint.hh:37
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77