ODEHingeJoint.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.
15 *
16*/
17/* Desc: A ODE hinge joint
18 * Author: Nate Koenig
19 * Date: 21 May 2003
20 */
21
22#ifndef _ODEHINGEJOINT_HH_
23#define _ODEHINGEJOINT_HH_
24
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace physics
32 {
35
37 class GZ_PHYSICS_VISIBLE ODEHingeJoint : public HingeJoint<ODEJoint>
38 {
42 public: ODEHingeJoint(dWorldID _worldId, BasePtr _parent);
43
45 public: virtual ~ODEHingeJoint();
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 SetAnchor(const unsigned int _index,
56 const ignition::math::Vector3d &_anchor);
57
58 // Documentation inherited
59 public: virtual ignition::math::Vector3d GlobalAxis(
60 const unsigned int _index) const;
61
62 // Documentation inherited
63 public: virtual void SetAxis(const unsigned int _index,
64 const ignition::math::Vector3d &_axis);
65
66 // Documentation inherited
67 public: virtual double PositionImpl(const unsigned int _index) const;
68
69 // Documentation inherited
70 public: virtual void SetVelocity(unsigned int _index, double _angle);
71
72 // Documentation inherited
73 public: virtual double GetVelocity(unsigned int _index) const;
74
75 // Documentation inherited
76 public: virtual double GetParam(unsigned int _parameter) const;
77
78 // Documentation inherited
79 public: virtual void SetParam(unsigned int _parameter, double _value);
80
81 // Documentation inherited
82 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
83
84 // Make ODEJoint a friend class so we can fix issue 2430 without breaking
85 // ABI
87
91 private: void SetCumulativeAngle(double _angle);
92 };
94 }
95}
96#endif
A single axis hinge joint.
Definition HingeJoint.hh:38
A single axis hinge joint.
Definition ODEHingeJoint.hh:38
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 void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual ~ODEHingeJoint()
Destructor.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
ODEHingeJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
virtual void SetParam(unsigned int _parameter, double _value)
Set an ODE joint paramter.
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 ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual double GetParam(unsigned int _parameter) const
Get an ODE joint parameter.
ODE joint interface.
Definition ODEJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27