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SimbodyScrewJoint.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 
18 #ifndef _SIMBODY_SCREWJOINT_HH_
19 #define _SIMBODY_SCREWJOINT_HH_
20 
21 #include <string>
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GAZEBO_VISIBLE SimbodyScrewJoint : public ScrewJoint<SimbodyJoint>
36  {
40  public: SimbodyScrewJoint(SimTK::MultibodySystem *_world,
41  BasePtr _parent);
42 
44  public: virtual ~SimbodyScrewJoint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: virtual void SetAxis(unsigned int _index,
51  const math::Vector3 &_axis);
52 
53  // Documentation inherited.
54  public: virtual bool SetHighStop(unsigned int _index,
55  const math::Angle &_angle);
56 
57  // Documentation inherited.
58  public: virtual bool SetLowStop(unsigned int _index,
59  const math::Angle &_angle);
60 
61  // Documentation inherited.
62  public: virtual math::Angle GetHighStop(unsigned int _index);
63 
64  // Documentation inherited.
65  public: virtual math::Angle GetLowStop(unsigned int _index);
66 
67  // Documentation inherited.
68  public: virtual void SetThreadPitch(unsigned int _index,
69  double _threadPitch);
70 
71  // Documentation inherited.
72  public: virtual void SetThreadPitch(double _threadPitch);
73 
74  // Documentation inherited.
75  public: virtual double GetThreadPitch(unsigned int /*_index*/);
76 
77  // Documentation inherited.
78  public: virtual double GetThreadPitch();
79 
80  // Documentation inherited.
81  public: virtual double GetVelocity(unsigned int _index) const;
82 
83  // Documentation inherited.
84  public: virtual void SetVelocity(unsigned int _index, double _angle);
85 
86  // Documentation inherited.
87  public: virtual void SetMaxForce(unsigned int _index, double _t);
88 
89  // Documentation inherited.
90  public: virtual double GetMaxForce(unsigned int _index);
91 
92  // Documentation inherited.
93  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
94 
95  // Documentation inherited.
96  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
97 
98  // Documentation inherited.
99  public: virtual bool SetParam(const std::string &_key,
100  unsigned int _index,
101  const boost::any &_value);
102 
103  // Documentation inherited.
104  public: virtual double GetParam(const std::string &_key,
105  unsigned int _index);
106 
107  // Documentation inherited.
108  protected: virtual void SetForceImpl(unsigned int _index, double _force);
109  };
111  }
112 }
113 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:66
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:34
A screw joint.
Definition: SimbodyScrewJoint.hh:35
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48