SimbodySliderJoint.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 _SIMBODY_SLIDERJOINT_HH_
19 #define _SIMBODY_SLIDERJOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodySliderJoint :
36  public SliderJoint<SimbodyJoint>
37  {
41  public: SimbodySliderJoint(SimTK::MultibodySystem *world,
42  BasePtr _parent);
43 
45  public: virtual ~SimbodySliderJoint();
46 
47  // Documentation inherited.
48  public: virtual void SetAxis(const unsigned int _index,
49  const ignition::math::Vector3d &_axis);
50 
51  // Documentation inherited.
52  public: virtual void SetVelocity(unsigned int _index, double _rate);
53 
54  // Documentation inherited.
55  public: virtual double GetVelocity(unsigned int _index) const;
56 
57  // Documentation inherited.
58  public: virtual ignition::math::Vector3d GlobalAxis(
59  const unsigned int _index) const;
60 
61  // Documentation inherited.
62  public: virtual double PositionImpl(const unsigned int _index) const;
63 
64  // Documentation inherited.
65  protected: virtual void Load(sdf::ElementPtr _sdf);
66 
67  // Documentation inherited.
68  protected: virtual void SetForceImpl(unsigned int _index, double _force);
69  };
70 
72  }
73 }
74 #endif
A slider joint.
Definition: SliderJoint.hh:38
A slider joint.
Definition: SimbodySliderJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77