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gazebo
physics
ode
ODEBallJoint.hh
Go to the documentation of this file.
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/*
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* Copyright 2011 Nate Koenig
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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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/* Desc: An ODE ball joint
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* Author: Nate Koenig
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* Date: 13 Oct 2009
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*/
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#ifndef ODEBALLJOINT_HH
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#define ODEBALLJOINT_HH
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#include "
physics/BallJoint.hh
"
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#include "
physics/ode/ODEJoint.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
ODEBallJoint
:
public
BallJoint
<ODEJoint>
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{
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public
:
ODEBallJoint
(dWorldID worldId,
BasePtr
_parent);
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public
:
virtual
~ODEBallJoint
();
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public
:
virtual
math::Vector3
GetAnchor
(
int
index)
const
;
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public
:
virtual
void
SetAnchor
(
int
index,
const
math::Vector3
&anchor);
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public
:
virtual
math::Vector3
GetGlobalAxis
(
int
/*index*/
)
const
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{
return
math::Vector3
();}
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public
:
virtual
void
SetDamping
(
int
_index,
double
_damping);
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public
:
virtual
void
SetVelocity
(
int
/*index*/
,
double
/*angle*/
) {}
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public
:
virtual
double
GetVelocity
(
int
/*index*/
)
const
{
return
0;}
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public
:
virtual
double
GetMaxForce
(
int
/*index*/
) {
return
0;}
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public
:
virtual
void
SetMaxForce
(
int
/*index*/
,
double
/*t*/
) {}
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public
:
virtual
math::Angle
GetAngleImpl
(
int
/*index*/
)
const
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{
return
math::Angle
(0);}
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};
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}
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}
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#endif
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