SimbodyHinge2Joint.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
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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
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16*/
17
18#ifndef _SIMBODY_HINGE2JOINT_HH_
19#define _SIMBODY_HINGE2JOINT_HH_
20
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
33
35 class GZ_PHYSICS_VISIBLE SimbodyHinge2Joint :
36 public Hinge2Joint<SimbodyJoint>
37 {
39 public: SimbodyHinge2Joint(SimTK::MultibodySystem *world,
40 BasePtr _parent);
41
43 public: virtual ~SimbodyHinge2Joint();
44
45 // Documentation inherited.
46 protected: virtual void Load(sdf::ElementPtr _sdf);
47
48 // Documentation inherited.
49 public: virtual ignition::math::Vector3d Anchor(
50 const unsigned int _index) const;
51
52 // Documentation inherited.
53 public: virtual void SetAxis(const unsigned int _index,
54 const ignition::math::Vector3d &_axis);
55
56 // Documentation inherited.
57 public: virtual double GetVelocity(unsigned int _index) const;
58
59 // Documentation inherited.
60 public: virtual void SetVelocity(unsigned int _index, double _angle);
61
62 // Documentation inherited.
63 public: virtual ignition::math::Vector3d GlobalAxis(
64 const unsigned int _index) const;
65
66 // Documentation inherited
67 protected: virtual double PositionImpl(const unsigned int _index) const;
68
70 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
71 };
73 }
74}
75#endif
A two axis hinge joint.
Definition Hinge2Joint.hh:42
A two axis hinge joint.
Definition SimbodyHinge2Joint.hh:37
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the torque.
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
SimbodyHinge2Joint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual ~SimbodyHinge2Joint()
Destructor.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition SimbodyJoint.hh:221
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27