DARTUniversalJoint.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
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_DARTUNIVERSALJOINT_HH_
19 #define _GAZEBO_DARTUNIVERSALJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE DARTUniversalJoint :
34  public UniversalJoint<DARTJoint>
35  {
38  public: DARTUniversalJoint(BasePtr _parent);
39 
41  public: virtual ~DARTUniversalJoint();
42 
43  // Documentation inherited.
44  public: virtual void Load(sdf::ElementPtr _sdf);
45 
46  // Documentation inherited.
47  public: virtual void Init();
48 
49  // Documentation inherited
50  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
51 
52  // Documentation inherited
53  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
54 
55  // Documentation inherited
56  public: virtual void SetAxis(unsigned int _index,
57  const math::Vector3 &_axis);
58 
59  // Documentation inherited
60  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
61 
62  // Documentation inherited
63  public: virtual double GetVelocity(unsigned int _index) const;
64 
65  // Documentation inherited
66  public: virtual void SetVelocity(unsigned int _index, double _vel);
67 
68  // Documentation inherited
69  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
70  };
72  }
73 }
74 #endif
A universal joint.
Definition: DARTUniversalJoint.hh:33
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.
A universal joint.
Definition: UniversalJoint.hh:36
An angle and related functions.
Definition: Angle.hh:53
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72