SimbodyScrewJoint.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 _SIMBODY_SCREWJOINT_HH_
19#define _SIMBODY_SCREWJOINT_HH_
20
21#include <string>
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
33
35 class GZ_PHYSICS_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(const unsigned int _index,
51 const ignition::math::Vector3d &_axis);
52
53 // Documentation inherited.
54 public: virtual void SetUpperLimit(const unsigned int _index,
55 const double _limit);
56
57 // Documentation inherited.
58 public: virtual void SetLowerLimit(const unsigned int _index,
59 const double _limit);
60
61 // Documentation inherited.
62 public: virtual double UpperLimit(const unsigned int _index) const;
63
64 // Documentation inherited.
65 public: virtual double LowerLimit(const unsigned int _index) const;
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 ignition::math::Vector3d GlobalAxis(
88 const unsigned int _index) const;
89
90 // Documentation inherited.
91 public: virtual double PositionImpl(const unsigned int _index) const;
92
93 // Documentation inherited.
94 public: virtual bool SetParam(const std::string &_key,
95 unsigned int _index,
96 const boost::any &_value);
97
98 // Documentation inherited.
99 public: virtual double GetParam(const std::string &_key,
100 unsigned int _index);
101
102 // Documentation inherited.
103 protected: virtual void SetForceImpl(unsigned int _index, double _force);
104 };
106 }
107}
108#endif
A screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
A screw joint.
Definition SimbodyScrewJoint.hh:36
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
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 SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
virtual double GetThreadPitch(unsigned int)
virtual double GetThreadPitch()
Get screw joint thread pitch.
virtual ~SimbodyScrewJoint()
Destructor.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
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 a ScrewJoint.
virtual void SetForceImpl(unsigned int _index, double _force)
Set the force applied to this physics::Joint.
SimbodyScrewJoint(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 void SetThreadPitch(double _threadPitch)
Set screw joint thread pitch.
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27