ODEScrewJoint.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#ifndef _ODESCREWJOINT_HH_
18#define _ODESCREWJOINT_HH_
19
20#include <string>
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
27 namespace physics
28 {
31
33 class GZ_PHYSICS_VISIBLE ODEScrewJoint : public ScrewJoint<ODEJoint>
34 {
38 public: ODEScrewJoint(dWorldID _worldId, BasePtr _parent);
39
41 public: virtual ~ODEScrewJoint();
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 void SetThreadPitch(unsigned int _index,
64 double _threadPitch);
65
66 // Documentation inherited
67 public: virtual void SetThreadPitch(double _threadPitch);
68
69 // Documentation inherited
70 public: virtual double GetThreadPitch(unsigned int _index);
71
72 // Documentation inherited
73 public: virtual double GetThreadPitch();
74
75 // Documentation inherited
76 public: virtual double PositionImpl(const unsigned int _index) const;
77
78 // Documentation inherited
79 public: virtual double GetVelocity(unsigned int _index) const;
80
81 // Documentation inherited
82 public: virtual void SetVelocity(unsigned int _index, double _angle);
83
84 // Documentation inherited
85 public: virtual double GetParam(unsigned int _parameter) const;
86
87 // Documentation inherited
88 public: virtual void SetParam(unsigned int _parameter, double _value);
89
90 // Documentation inherited.
91 public: virtual bool SetParam(const std::string &_key,
92 unsigned int _index,
93 const boost::any &_value);
94
95 // Documentation inherited.
96 public: virtual double GetParam(const std::string &_key,
97 unsigned int _index);
98
99 // Documentation inherited
100 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
101 };
103 }
104}
105#endif
A screw joint.
Definition ODEScrewJoint.hh:34
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
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 GetThreadPitch(unsigned int _index)
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
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 double GetThreadPitch()
Get screw joint thread pitch.
virtual ~ODEScrewJoint()
Destructor.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
ODEScrewJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the joint.
virtual void Load(sdf::ElementPtr _sdf)
Load a ScrewJoint.
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 void SetThreadPitch(double _threadPitch)
Set screw joint thread pitch.
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 screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27