ODEJoint.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: The ODE base joint class
 * Author: Nate Koenig, Andrew Howard
 * Date: 12 Oct 2009
 */

#ifndef ODEJOINT_HH
#define ODEJOINT_HH

#include "physics/ode/ODEPhysics.hh"
#include "physics/Joint.hh"

namespace gazebo
{
  namespace physics
  {

    class ODEJoint : public Joint
    {
      public: ODEJoint(BasePtr _parent);

      public: virtual ~ODEJoint();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Reset();

      public: virtual LinkPtr GetJointLink(int _index) const;

      public: bool virtual AreConnected(LinkPtr _one, LinkPtr _two) const;

      public: virtual double GetParam(int _parameter) const;

      public: virtual void Attach(LinkPtr parent, LinkPtr child);

      public: virtual void Detach();

      public: virtual void SetParam(int _parameter, double _value);

      public: void SetERP(double newERP);

      public: double GetERP();

      public: void SetCFM(double newCFM);

      public: double GetCFM();

      public: dJointFeedback *GetFeedback();

      public: virtual void SetHighStop(int _index, const math::Angle &_angle);

      public: virtual void SetLowStop(int _index, const math::Angle &_angle);

      public: virtual math::Angle GetHighStop(int index);

      public: virtual math::Angle GetLowStop(int index);

      public: virtual math::Vector3 GetLinkForce(unsigned int index) const;

      public: virtual math::Vector3 GetLinkTorque(unsigned int index) const;

      public: virtual void SetAttribute(Attribute, int index, double value);

      protected: dJointID jointId;

      private: dJointFeedback *feedback;
    };
  }
}
#endif