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ODEGearboxJoint.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _ODEGEARBOXJOINT_HH_
#define _ODEGEARBOXJOINT_HH_
#include <string>
#include "gazebo/physics/GearboxJoint.hh"
#include "gazebo/physics/ode/ODEJoint.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
{
public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
public: virtual ~ODEGearboxJoint();
// Documentation inherited
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited
public: virtual void Init();
// Documentation inherited
public: virtual ignition::math::Vector3d Anchor(
const unsigned int _index) const;
// Documentation inherited
public: virtual void SetAnchor(const unsigned int _index,
const ignition::math::Vector3d &_anchor);
// Documentation inherited
public: virtual ignition::math::Vector3d GlobalAxis(
const unsigned int _index) const;
// Documentation inherited
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
// Documentation inherited
public: virtual void SetGearboxRatio(double _gearRatio);
// Documentation inherited
public: virtual double PositionImpl(const unsigned int _index) const;
// Documentation inherited
public: virtual void SetVelocity(unsigned int _index, double _angle);
// Documentation inherited
public: virtual double GetVelocity(unsigned int _index) const;
// Documentation inherited
public: virtual double GetParam(unsigned int _parameter) const;
// Documentation inherited
public: virtual void SetParam(unsigned int _parameter, double _value);
// Documentation inherited.
public: virtual double GetParam(const std::string &_key,
unsigned int _index);
// Documentation inherited.
public: virtual bool SetParam(const std::string &_key,
unsigned int _index,
const boost::any &_value);
// Documentation inherited
protected: virtual void SetForceImpl(unsigned int _index, double _effort);
private: void SetReferenceBody(LinkPtr _body);
};
}
}
#endif
gazebo::physics::ODEGearboxJoint::Anchor
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
gazebo::physics::ODEGearboxJoint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ODEGearboxJoint::~ODEGearboxJoint
virtual ~ODEGearboxJoint()
Destructor.
system.hh
gazebo::physics::GearboxJoint
A double axis gearbox joint.
Definition: GearboxJoint.hh:36
gazebo::physics::ODEGearboxJoint
A double axis gearbox joint.
Definition: ODEGearboxJoint.hh:36
ODEJoint.hh
gazebo::physics::ODEGearboxJoint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
GearboxJoint.hh
gazebo::physics::ODEGearboxJoint::SetParam
virtual void SetParam(unsigned int _parameter, double _value)
Set an ODE joint paramter.
gazebo::physics::ODEGearboxJoint::SetGearboxRatio
virtual void SetGearboxRatio(double _gearRatio)
Set gearbox joint gear ratio.
gazebo::physics::ODEGearboxJoint::GetVelocity
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
gazebo::physics::ODEGearboxJoint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::ODEGearboxJoint::SetAnchor
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
gazebo::physics::ODEGearboxJoint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
gazebo::physics::ODEGearboxJoint::Init
virtual void Init()
Initialize joint.
gazebo::physics::ODEGearboxJoint::SetAxis
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.
gazebo::physics::ODEGearboxJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
gazebo::physics::ODEGearboxJoint::GetParam
virtual double GetParam(unsigned int _parameter) const
Get an ODE joint parameter.
gazebo::physics::ODEGearboxJoint::ODEGearboxJoint
ODEGearboxJoint(dWorldID _worldId, BasePtr _parent)
Constructor.