ODEFixedJoint.hh
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1/*
2 * Copyright (C) 2015 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 _GAZEBO_ODEFIXEDJOINT_HH_
19#define _GAZEBO_ODEFIXEDJOINT_HH_
20
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
27 namespace physics
28 {
31
33 class GZ_PHYSICS_VISIBLE ODEFixedJoint : public FixedJoint<ODEJoint>
34 {
38 public: ODEFixedJoint(dWorldID _worldId, BasePtr _parent);
39
41 public: virtual ~ODEFixedJoint();
42
43 // Documentation inherited
44 public: virtual void Load(sdf::ElementPtr _sdf);
45
46 // Documentation inherited
47 public: virtual ignition::math::Vector3d Anchor(
48 const unsigned int _index) const;
49
50 // Documentation inherited
51 public: virtual void SetAnchor(const unsigned int _index,
52 const ignition::math::Vector3d &_anchor);
53
54 // Documentation inherited
55 public: virtual ignition::math::Vector3d GlobalAxis(
56 const unsigned int _index) const;
57
58 // Documentation inherited
59 public: virtual void SetAxis(const unsigned int _index,
60 const ignition::math::Vector3d &_axis);
61
62 // Documentation inherited
63 public: virtual double PositionImpl(const unsigned int _index) const;
64
65 // Documentation inherited
66 public: virtual void SetVelocity(unsigned int _index, double _angle);
67
68 // Documentation inherited
69 public: virtual double GetVelocity(unsigned int _index) const;
70
71 // Documentation inherited
72 public: virtual void Attach(LinkPtr _parent, LinkPtr _child);
73
74 // Documentation inherited
75 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
76 };
78 }
79}
80#endif
A fixed joint rigidly connecting two bodies.
Definition FixedJoint.hh:34
A fixed joint.
Definition ODEFixedJoint.hh:34
virtual ~ODEFixedJoint()
Destructor.
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 void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void Attach(LinkPtr _parent, LinkPtr _child)
Attach the two bodies with this joint.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
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.
ODEFixedJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27