17#ifndef _ODEUNIVERSALJOINT_HH_
18#define _ODEUNIVERSALJOINT_HH_
20#include <boost/any.hpp>
48 public:
virtual ignition::math::Vector3d
Anchor(
49 const unsigned int _index)
const;
52 public:
virtual void SetAnchor(
const unsigned int _index,
53 const ignition::math::Vector3d &_anchor);
57 const unsigned int _index)
const;
60 public:
virtual void SetAxis(
const unsigned int _index,
61 const ignition::math::Vector3d &_axis);
64 public:
virtual double PositionImpl(
const unsigned int _index)
const;
67 public:
virtual double GetVelocity(
unsigned int _index)
const;
70 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
73 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
84 public:
virtual bool SetParam(
const std::string &_key,
86 const boost::any &_value);
89 public:
virtual double GetParam(
const std::string &_key,
93 public:
virtual double GetParam(
unsigned int _parameter)
const;
96 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
A universal joint.
Definition ODEUniversalJoint.hh:38
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
virtual ~ODEUniversalJoint()
Destuctor.
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 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 SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the 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).
ODEUniversalJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
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.
A universal joint.
Definition UniversalJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27