DARTHingeJoint.hh
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1/*
2 * Copyright (C) 2014 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.
15 *
16*/
17
18#ifndef _GAZEBO_DARTHINGEJOINT_HH_
19#define _GAZEBO_DARTHINGEJOINT_HH_
20
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
27 namespace physics
28 {
31
33 class GZ_PHYSICS_VISIBLE DARTHingeJoint : public HingeJoint<DARTJoint>
34 {
37 public: explicit DARTHingeJoint(BasePtr _parent);
38
40 public: virtual ~DARTHingeJoint();
41
42 // Documentation inherited.
43 public: virtual void Load(sdf::ElementPtr _sdf);
44
45 // Documentation inherited.
46 public: virtual void Init();
47
48 // Documentation inherited
49 public: virtual ignition::math::Vector3d GlobalAxis(
50 const unsigned int _index) const;
51
52 // Documentation inherited
53 public: virtual void SetAxis(const unsigned int _index,
54 const ignition::math::Vector3d &_axis);
55 };
57 }
58}
59#endif
A single axis hinge joint.
Definition DARTHingeJoint.hh:34
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 Init()
Initialize joint.
virtual ~DARTHingeJoint()
Destructor.
DARTHingeJoint(BasePtr _parent)
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A single axis hinge joint.
Definition HingeJoint.hh:38
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27