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SimbodyHingeJoint.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 _SIMBODY_HINGEJOINT_HH_
#define _SIMBODY_HINGEJOINT_HH_
#include <vector>
#include "gazebo/physics/HingeJoint.hh"
#include "gazebo/physics/simbody/SimbodyJoint.hh"
#include "gazebo/physics/simbody/SimbodyPhysics.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
{
public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
public: virtual ~SimbodyHingeJoint();
// Documentation inherited.
protected: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
// Documentation inherited.
public: virtual void SetVelocity(unsigned int _index, double _rate);
// Documentation inherited.
public: virtual double GetVelocity(unsigned int _index) const;
// Documentation inherited.
public: virtual ignition::math::Vector3d GlobalAxis(
const unsigned int _index) const;
public: virtual void SaveSimbodyState(const SimTK::State &_state);
public: virtual void RestoreSimbodyState(SimTK::State &_state);
// Documentation inherited.
protected: virtual double PositionImpl(const unsigned int _index) const;
// Documentation inherited.
protected: virtual void SetForceImpl(unsigned int _index, double _torque);
private: std::vector<double> simbodyQ;
private: std::vector<double> simbodyU;
};
}
}
#endif
HingeJoint.hh
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::SimbodyHingeJoint::SimbodyHingeJoint
SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
gazebo::physics::SimbodyHingeJoint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
system.hh
gazebo::physics::SimbodyHingeJoint::SetAxis
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::SimbodyHingeJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
gazebo::physics::SimbodyHingeJoint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
gazebo::physics::SimbodyHingeJoint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::physics::SimbodyHingeJoint::SaveSimbodyState
virtual void SaveSimbodyState(const SimTK::State &_state)
save simbody state for spawning
SimbodyJoint.hh
gazebo::physics::SimbodyHingeJoint::~SimbodyHingeJoint
virtual ~SimbodyHingeJoint()
Destructor.
gazebo::physics::SimbodyHingeJoint
A single axis hinge joint.
Definition: SimbodyHingeJoint.hh:37
gazebo::physics::SimbodyJoint::world
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:221
gazebo::physics::SimbodyHingeJoint::GetVelocity
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
gazebo::physics::HingeJoint
A single axis hinge joint.
Definition: HingeJoint.hh:37
SimbodyPhysics.hh
gazebo::physics::SimbodyHingeJoint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _rate)
Set the velocity of an axis(index).
gazebo::physics::SimbodyHingeJoint::RestoreSimbodyState
virtual void RestoreSimbodyState(SimTK::State &_state)
restore simbody state for spawning