18#ifndef _SIMBODYBALLJOINT_HH_
19#define _SIMBODYBALLJOINT_HH_
44 public:
virtual void Load(sdf::ElementPtr _sdf);
47 public: ignition::math::Vector3d
Anchor(
48 const unsigned int _index)
const;
51 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
54 public:
virtual double GetVelocity(
unsigned int _index)
const;
57 public:
virtual double PositionImpl(
const unsigned int _index)
const;
61 const unsigned int _index)
const;
64 public:
virtual void SetAxis(
const unsigned int _index,
65 const ignition::math::Vector3d &_axis);
68 public:
virtual double UpperLimit(
const unsigned int _index)
const;
71 public:
virtual double LowerLimit(
const unsigned int _index)
const;
82 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
Base class for a ball joint.
Definition BallJoint.hh:41
SimbodyBallJoint class models a ball joint in Simbody.
Definition SimbodyBallJoint.hh:36
virtual ~SimbodyBallJoint()
Destructor.
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.
ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
SimbodyBallJoint(SimTK::MultibodySystem *_world, BasePtr _parent)
Simbody Ball Joint Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Template to Load the BallJoint.
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 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