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SimbodyHinge2Joint.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_HINGE2JOINT_HH_
#define _SIMBODY_HINGE2JOINT_HH_
#include "gazebo/physics/Hinge2Joint.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 SimbodyHinge2Joint :
public Hinge2Joint<SimbodyJoint>
{
public: SimbodyHinge2Joint(SimTK::MultibodySystem *world,
BasePtr _parent);
public: virtual ~SimbodyHinge2Joint();
// Documentation inherited.
protected: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual ignition::math::Vector3d Anchor(
const unsigned int _index) const;
// Documentation inherited.
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
// Documentation inherited.
public: virtual double GetVelocity(unsigned int _index) const;
// Documentation inherited.
public: virtual void SetVelocity(unsigned int _index, double _angle);
// Documentation inherited.
public: virtual ignition::math::Vector3d GlobalAxis(
const unsigned int _index) const;
// Documentation inherited
protected: virtual double PositionImpl(const unsigned int _index) const;
protected: virtual void SetForceImpl(unsigned int _index, double _torque);
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::SimbodyHinge2Joint::Anchor
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
system.hh
gazebo::physics::SimbodyHinge2Joint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
gazebo::physics::SimbodyHinge2Joint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
gazebo::physics::SimbodyHinge2Joint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the torque.
gazebo::physics::SimbodyHinge2Joint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
gazebo::physics::Hinge2Joint
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
gazebo::physics::SimbodyHinge2Joint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::physics::SimbodyHinge2Joint
A two axis hinge joint.
Definition: SimbodyHinge2Joint.hh:35
gazebo::physics::SimbodyHinge2Joint::SimbodyHinge2Joint
SimbodyHinge2Joint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
SimbodyJoint.hh
gazebo::physics::SimbodyHinge2Joint::~SimbodyHinge2Joint
virtual ~SimbodyHinge2Joint()
Destructor.
gazebo::physics::SimbodyHinge2Joint::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::SimbodyJoint::world
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:221
gazebo::physics::SimbodyHinge2Joint::GetVelocity
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
SimbodyPhysics.hh
Hinge2Joint.hh