SimbodyUniversalJoint.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_UNIVERSAL_JOINT_HH_
19#define _SIMBODY_UNIVERSAL_JOINT_HH_
20
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
33
35 class GZ_PHYSICS_VISIBLE SimbodyUniversalJoint
36 : public UniversalJoint<SimbodyJoint>
37 {
41 public: SimbodyUniversalJoint(SimTK::MultibodySystem *_world,
42 BasePtr _parent);
43
45 public: virtual ~SimbodyUniversalJoint();
46
47 // Documentation inherited.
48 public: virtual void Load(sdf::ElementPtr _sdf);
49
50 // Documentation inherited.
51 public: virtual ignition::math::Vector3d Anchor(
52 const unsigned int _index) const;
53
54 // Documentation inherited.
55 public: virtual void SetAxis(const unsigned int _index,
56 const ignition::math::Vector3d &_axis);
57
58 // Documentation inherited.
59 public: virtual void SetVelocity(unsigned int _index, double _rate);
60
61 // Documentation inherited.
62 public: virtual double GetVelocity(unsigned int _index) const;
63
64 // Documentation inherited.
65 public: virtual ignition::math::Vector3d GlobalAxis(
66 const unsigned int _index) const;
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 }
76}
77#endif
A simbody universal joint class.
Definition SimbodyUniversalJoint.hh:37
virtual void SetVelocity(unsigned int _index, double _rate)
Set the velocity of an axis(index).
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 double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual 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.
SimbodyUniversalJoint(SimTK::MultibodySystem *_world, BasePtr _parent)
Constructor.
virtual ~SimbodyUniversalJoint()
Destuctor.
virtual void Load(sdf::ElementPtr _sdf)
Load a UniversalJoint.
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.
A universal joint.
Definition UniversalJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27