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ODEHinge2Joint.hh
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1 /*
2  * Copyright (C) 2012-2014 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 /* Desc: A hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _ODEHINGE2JOINT_HH_
23 #define _ODEHINGE2JOINT_HH_
24 
25 #include "gazebo/math/Angle.hh"
26 #include "gazebo/math/Vector3.hh"
27 
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
37  class GAZEBO_VISIBLE ODEHinge2Joint : public Hinge2Joint<ODEJoint>
38  {
42  public: ODEHinge2Joint(dWorldID worldId, BasePtr _parent);
43 
45  public: virtual ~ODEHinge2Joint();
46 
47  // Documentation inherited.
48  public: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual void SetAnchor(unsigned int _index,
52  const math::Vector3 &_anchor);
53 
54  // Documentation inherited.
55  public: virtual void SetAxis(unsigned int _index,
56  const math::Vector3 &_axis);
57 
58  // Documentation inherited.
59  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
60 
61  // Documentation inherited.
62  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
63 
64  // Documentation inherited.
65  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
66 
67  // Documentation inherited.
68  public: virtual double GetVelocity(unsigned int _index) const;
69 
70  // Documentation inherited.
71  public: virtual void SetVelocity(unsigned int _index, double _angle);
72 
73  // Documentation inherited.
74  public: virtual void SetMaxForce(unsigned int _index, double _t);
75 
76  // Documentation inherited.
77  public: virtual double GetMaxForce(unsigned int _index);
78 
79  // Documentation inherited.
80  public: virtual double GetParam(unsigned int _parameter) const;
81 
82  public: virtual void SetParam(unsigned int _parameter, double _value);
83 
84  // Documentation inherited.
85  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
86  };
87  }
88 }
89 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
A two axis hinge joint.
Definition: Hinge2Joint.hh:42
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
A two axis hinge joint.
Definition: ODEHinge2Joint.hh:37
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48