SimbodyBallJoint.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 _SIMBODYBALLJOINT_HH_
19#define _SIMBODYBALLJOINT_HH_
20
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
33
35 class GZ_PHYSICS_VISIBLE SimbodyBallJoint : public BallJoint<SimbodyJoint>
36 {
38 public: SimbodyBallJoint(SimTK::MultibodySystem *_world, BasePtr _parent);
39
41 public: virtual ~SimbodyBallJoint();
42
43 // Documentation inherited.
44 public: virtual void Load(sdf::ElementPtr _sdf);
45
46 // Documentation inherited.
47 public: ignition::math::Vector3d Anchor(
48 const unsigned int _index) const;
49
50 // Documentation inherited.
51 public: virtual void SetVelocity(unsigned int _index, double _angle);
52
53 // Documentation inherited.
54 public: virtual double GetVelocity(unsigned int _index) const;
55
56 // Documentation inherited.
57 public: virtual double PositionImpl(const unsigned int _index) const;
58
59 // Documentation inherited.
60 public: virtual ignition::math::Vector3d GlobalAxis(
61 const unsigned int _index) const;
62
63 // Documentation inherited.
64 public: virtual void SetAxis(const unsigned int _index,
65 const ignition::math::Vector3d &_axis);
66
67 // Documentation inherited.
68 public: virtual double UpperLimit(const unsigned int _index) const;
69
70 // Documentation inherited.
71 public: virtual double LowerLimit(const unsigned int _index) const;
72
73 // Documentation inherited.
74 public: virtual void SetUpperLimit(const unsigned int _index,
75 const double _limit);
76
77 // Documentation inherited.
78 public: virtual void SetLowerLimit(const unsigned int _index,
79 const double _limit);
80
81 // Documentation inherited.
82 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
83 };
85 }
86}
87#endif
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