ODEBallJoint.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: An ODE ball joint
18 * Author: Nate Koenig
19 * Date: 13 Oct 2009
20 */
21
22#ifndef _ODEBALLJOINT_HH_
23#define _ODEBALLJOINT_HH_
24
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace physics
32 {
35
37 class GZ_PHYSICS_VISIBLE ODEBallJoint : public BallJoint<ODEJoint>
38 {
42 public: ODEBallJoint(dWorldID _worldId, BasePtr _parent);
43
45 public: virtual ~ODEBallJoint();
46
47 // Documentation inherited
48 public: virtual ignition::math::Vector3d Anchor(
49 const unsigned int _index) const;
50
51 // Documentation inherited
52 public: virtual void SetAnchor(const unsigned int _index,
53 const ignition::math::Vector3d &_anchor);
54
55 // Documentation inherited
56 public: virtual ignition::math::Vector3d GlobalAxis(
57 const unsigned int _index) const;
58
59 // Documentation inherited
60 public: virtual void SetVelocity(unsigned int _index, double _angle);
61
62 // Documentation inherited
63 public: virtual double GetVelocity(unsigned int _index) const;
64
65 // Documentation inherited
66 public: virtual double PositionImpl(const unsigned int _index) const;
67
68 // Documentation inherited.
69 public: virtual void SetAxis(const unsigned int _index,
70 const ignition::math::Vector3d &_axis);
71
72 // Documentation inherited.
73 public: virtual double UpperLimit(const unsigned int _index) const;
74
75 // Documentation inherited.
76 public: virtual double LowerLimit(const unsigned int _index) const;
77
78 // Documentation inherited.
79 public: virtual void SetUpperLimit(const unsigned int _index,
80 const double _limit);
81
82 // Documentation inherited.
83 public: virtual void SetLowerLimit(const unsigned int _index,
84 const double _limit);
85
86 // Documentation inherited.
87 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
88 };
90 }
91}
92#endif
Base class for a ball joint.
Definition BallJoint.hh:41
An ODEBallJoint.
Definition ODEBallJoint.hh:38
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.
virtual 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 SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual ~ODEBallJoint()
Destructor.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
ODEBallJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
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