18#ifndef _SIMBODY_HINGEJOINT_HH_
19#define _SIMBODY_HINGEJOINT_HH_
46 protected:
virtual void Load(sdf::ElementPtr _sdf);
49 public:
void SetAxis(
const unsigned int _index,
50 const ignition::math::Vector3d &_axis);
53 public:
virtual void SetVelocity(
unsigned int _index,
double _rate);
56 public:
virtual double GetVelocity(
unsigned int _index)
const;
60 const unsigned int _index)
const;
69 protected:
virtual double PositionImpl(
const unsigned int _index)
const;
72 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
75 private: std::vector<double> simbodyQ;
78 private: std::vector<double> simbodyU;
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