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physics
simbody
SimbodyHingeJoint.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SIMBODY_HINGEJOINT_HH_
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#define _SIMBODY_HINGEJOINT_HH_
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#include <vector>
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#include "
gazebo/physics/HingeJoint.hh
"
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#include "
gazebo/physics/simbody/SimbodyJoint.hh
"
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#include "
gazebo/physics/simbody/SimbodyPhysics.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
GZ_PHYSICS_VISIBLE
SimbodyHingeJoint
:
public
HingeJoint
<SimbodyJoint>
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{
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public
:
SimbodyHingeJoint
(SimTK::MultibodySystem *world,
BasePtr
_parent);
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public
:
virtual
~
SimbodyHingeJoint
();
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// Documentation inherited.
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protected
:
virtual
void
Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public
:
void
SetAxis(
const
unsigned
int
_index,
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const
ignition::math::Vector3d &_axis);
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// Documentation inherited.
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public
:
virtual
void
SetVelocity(
unsigned
int
_index,
double
_rate);
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// Documentation inherited.
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public
:
virtual
double
GetVelocity(
unsigned
int
_index)
const
;
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// Documentation inherited.
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public
:
virtual
ignition::math::Vector3d GlobalAxis(
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const
unsigned
int
_index)
const
;
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public
:
virtual
void
SaveSimbodyState(
const
SimTK::State &_state);
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public
:
virtual
void
RestoreSimbodyState(SimTK::State &_state);
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// Documentation inherited.
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protected
:
virtual
double
PositionImpl(
const
unsigned
int
_index)
const
;
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// Documentation inherited.
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protected
:
virtual
void
SetForceImpl(
unsigned
int
_index,
double
_torque);
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private
: std::vector<double> simbodyQ;
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private
: std::vector<double> simbodyU;
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};
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}
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}
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#endif
HingeJoint.hh
system.hh
gazebo::physics::SimbodyHingeJoint
A single axis hinge joint.
Definition:
SimbodyHingeJoint.hh:37
SimbodyPhysics.hh
gazebo::physics::HingeJoint
A single axis hinge joint.
Definition:
HingeJoint.hh:37
SimbodyJoint.hh
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition:
PhysicsTypes.hh:77