DARTBallJoint.hh
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1 /*
2  * Copyright (C) 2014-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _GAZEBO_DARTBALLJOINT_HH_
19 #define _GAZEBO_DARTBALLJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE DARTBallJoint : public BallJoint<DARTJoint>
34  {
37  public: DARTBallJoint(BasePtr _parent);
38 
40  public: virtual ~DARTBallJoint();
41 
42  // Documentation inherited.
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
45  // Documentation inherited.
46  public: virtual void Init();
47 
48  // Documentation inherited
49  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
50 
51  // Documentation inherited
52  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
53 
54  // Documentation inherited
55  public: virtual void SetVelocity(unsigned int _index, double _angle);
56 
57  // Documentation inherited
58  public: virtual double GetVelocity(unsigned int _index) const;
59 
60  // Documentation inherited
61  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
62 
63  // Documentation inherited.
64  protected: void SetForceImpl(unsigned int _index, double _torque);
65 
66  // Documentation inherited.
67  public: virtual void SetAxis(unsigned int _index,
68  const math::Vector3 &_axis);
69 
70  // Documentation inherited.
71  public: virtual math::Angle GetHighStop(unsigned int _index);
72 
73  // Documentation inherited.
74  public: virtual math::Angle GetLowStop(unsigned int _index);
75 
76  // Documentation inherited.
77  public: virtual bool SetHighStop(unsigned int _index,
78  const math::Angle &_angle);
79 
80  // Documentation inherited.
81  public: virtual bool SetLowStop(unsigned int _index,
82  const math::Angle &_angle);
83  };
85  }
86 }
87 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An DARTBallJoint.
Definition: DARTBallJoint.hh:33
An angle and related functions.
Definition: Angle.hh:53
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
Base class for a ball joint.
Definition: BallJoint.hh:40