ODEFixedJoint.hh
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2  * Copyright (C) 2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_ODEFIXEDJOINT_HH_
19 #define _GAZEBO_ODEFIXEDJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace 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:110
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
Forward declarations for the common classes.
Definition: Animation.hh:27