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ODEBallJoint.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.
*
*/
/* Desc: An ODE ball joint
* Author: Nate Koenig
* Date: 13 Oct 2009
*/
#ifndef _ODEBALLJOINT_HH_
#define _ODEBALLJOINT_HH_
#include "gazebo/physics/BallJoint.hh"
#include "gazebo/physics/ode/ODEJoint.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE ODEBallJoint : public BallJoint<ODEJoint>
{
public: ODEBallJoint(dWorldID _worldId, BasePtr _parent);
public: virtual ~ODEBallJoint();
// 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 SetVelocity(unsigned int _index, double _angle);
// Documentation inherited
public: virtual double GetVelocity(unsigned int _index) const;
// Documentation inherited
public: virtual double PositionImpl(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 UpperLimit(const unsigned int _index) const;
// Documentation inherited.
public: virtual double LowerLimit(const unsigned int _index) const;
// Documentation inherited.
public: virtual void SetUpperLimit(const unsigned int _index,
const double _limit);
// Documentation inherited.
public: virtual void SetLowerLimit(const unsigned int _index,
const double _limit);
// Documentation inherited.
protected: virtual void SetForceImpl(unsigned int _index, double _torque);
};
}
}
#endif
gazebo::physics::ODEBallJoint::GetVelocity
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ODEBallJoint::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::ODEBallJoint::Anchor
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
gazebo::physics::ODEBallJoint::LowerLimit
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
system.hh
gazebo::physics::ODEBallJoint::~ODEBallJoint
virtual ~ODEBallJoint()
Destructor.
gazebo::physics::ODEBallJoint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
gazebo::physics::BallJoint
Base class for a ball joint.
Definition: BallJoint.hh:40
gazebo::physics::ODEBallJoint
An ODEBallJoint.
Definition: ODEBallJoint.hh:37
gazebo::physics::ODEBallJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
ODEJoint.hh
gazebo::physics::ODEBallJoint::SetUpperLimit
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
gazebo::physics::ODEBallJoint::SetAnchor
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
BallJoint.hh
gazebo::physics::ODEBallJoint::SetLowerLimit
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
gazebo::physics::ODEBallJoint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
gazebo::physics::ODEBallJoint::UpperLimit
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
gazebo::physics::ODEBallJoint::ODEBallJoint
ODEBallJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
gazebo::physics::ODEBallJoint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).