ODEGearboxJoint.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
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.
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16*/
17
18#ifndef _ODEGEARBOXJOINT_HH_
19#define _ODEGEARBOXJOINT_HH_
20
21#include <string>
22
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
33
36 class GZ_PHYSICS_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
37 {
41 public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
42
44 public: virtual ~ODEGearboxJoint();
45
46 // Documentation inherited
47 public: virtual void Load(sdf::ElementPtr _sdf);
48
49 // Documentation inherited
50 public: virtual void Init();
51
52 // Documentation inherited
53 public: virtual ignition::math::Vector3d Anchor(
54 const unsigned int _index) const;
55
56 // Documentation inherited
57 public: virtual void SetAnchor(const unsigned int _index,
58 const ignition::math::Vector3d &_anchor);
59
60 // Documentation inherited
61 public: virtual ignition::math::Vector3d GlobalAxis(
62 const unsigned int _index) const;
63
64 // Documentation inherited
65 public: virtual void SetAxis(const unsigned int _index,
66 const ignition::math::Vector3d &_axis);
67
68 // Documentation inherited
69 public: virtual void SetGearboxRatio(double _gearRatio);
70
71 // Documentation inherited
72 public: virtual double PositionImpl(const unsigned int _index) const;
73
74 // Documentation inherited
75 public: virtual void SetVelocity(unsigned int _index, double _angle);
76
77 // Documentation inherited
78 public: virtual double GetVelocity(unsigned int _index) const;
79
80 // Documentation inherited
81 public: virtual double GetParam(unsigned int _parameter) const;
82
83 // Documentation inherited
84 public: virtual void SetParam(unsigned int _parameter, double _value);
85
86 // Documentation inherited.
87 public: virtual double GetParam(const std::string &_key,
88 unsigned int _index);
89
90 // Documentation inherited.
91 public: virtual bool SetParam(const std::string &_key,
92 unsigned int _index,
93 const boost::any &_value);
94
95 // Documentation inherited
96 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
97
100 private: void SetReferenceBody(LinkPtr _body);
101 };
103 }
104}
105#endif
A double axis gearbox joint.
Definition GearboxJoint.hh:37
A double axis gearbox joint.
Definition ODEGearboxJoint.hh:37
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
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 void Init()
Initialize joint.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void SetGearboxRatio(double _gearRatio)
Set gearbox joint gear ratio.
virtual ~ODEGearboxJoint()
Destructor.
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the joint.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
ODEGearboxJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
virtual void SetParam(unsigned int _parameter, double _value)
Set an ODE joint paramter.
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 ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual double GetParam(unsigned int _parameter) const
Get an ODE joint parameter.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27