SimbodyHingeJoint.hh
Go to the documentation of this file.
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.
15 *
16*/
17
18#ifndef _SIMBODY_HINGEJOINT_HH_
19#define _SIMBODY_HINGEJOINT_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 SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
38 {
40 public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
41
43 public: virtual ~SimbodyHingeJoint();
44
45 // Documentation inherited.
46 protected: virtual void Load(sdf::ElementPtr _sdf);
47
48 // Documentation inherited.
49 public: void SetAxis(const unsigned int _index,
50 const ignition::math::Vector3d &_axis);
51
52 // Documentation inherited.
53 public: virtual void SetVelocity(unsigned int _index, double _rate);
54
55 // Documentation inherited.
56 public: virtual double GetVelocity(unsigned int _index) const;
57
58 // Documentation inherited.
59 public: virtual ignition::math::Vector3d GlobalAxis(
60 const unsigned int _index) const;
61
63 public: virtual void SaveSimbodyState(const SimTK::State &_state);
64
66 public: virtual void RestoreSimbodyState(SimTK::State &_state);
67
68 // Documentation inherited.
69 protected: virtual double PositionImpl(const unsigned int _index) const;
70
71 // Documentation inherited.
72 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
73
75 private: std::vector<double> simbodyQ;
76
78 private: std::vector<double> simbodyU;
79 };
81 }
82}
83#endif
A single axis hinge joint.
Definition HingeJoint.hh:38
A single axis hinge joint.
Definition SimbodyHingeJoint.hh:38
virtual void RestoreSimbodyState(SimTK::State &_state)
restore simbody state for spawning
virtual void SetVelocity(unsigned int _index, double _rate)
Set the velocity of an axis(index).
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.
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 SaveSimbodyState(const SimTK::State &_state)
save simbody state for spawning
virtual ~SimbodyHingeJoint()
Destructor.
SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
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