SimbodyFixedJoint.hh
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1/*
2 * Copyright (C) 2015 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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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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16*/
17
18#ifndef _GAZEBO_SIMBODY_FIXEDJOINT_HH_
19#define _GAZEBO_SIMBODY_FIXEDJOINT_HH_
20
21#include <vector>
22
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 namespace physics
31 {
35
37 class GZ_PHYSICS_VISIBLE SimbodyFixedJoint : public FixedJoint<SimbodyJoint>
38 {
42 public: SimbodyFixedJoint(SimTK::MultibodySystem *world, BasePtr _parent);
43
45 public: virtual ~SimbodyFixedJoint();
46
47 // Documentation inherited.
48 protected: virtual void Load(sdf::ElementPtr _sdf);
49
50 // Documentation inherited.
51 public: virtual double GetVelocity(unsigned int _index) const;
52
53 // Documentation inherited.
54 public: virtual void SetVelocity(unsigned int _index, double _angle);
55
56 // Documentation inherited.
57 public: virtual void SetForceImpl(unsigned int _index, double _torque);
58
59 // Documentation inherited.
60 public: virtual ignition::math::Vector3d GlobalAxis(
61 const unsigned int _index) const;
62
63 // Documentation inherited.
64 public: virtual double PositionImpl(const unsigned int _index) const;
65 };
67 }
68}
69#endif
A fixed joint rigidly connecting two bodies.
Definition FixedJoint.hh:34
A fixed joint rigidly connecting two bodies.
Definition SimbodyFixedJoint.hh:38
SimbodyFixedJoint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
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 ~SimbodyFixedJoint()
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