ODEUniversalJoint.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef _ODEUNIVERSALJOINT_HH_
18 #define _ODEUNIVERSALJOINT_HH_
19 
20 #include <boost/any.hpp>
21 #include <string>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  class GZ_PHYSICS_VISIBLE ODEUniversalJoint :
37  public UniversalJoint<ODEJoint>
38  {
42  public: ODEUniversalJoint(dWorldID _worldId, BasePtr _parent);
43 
45  public: virtual ~ODEUniversalJoint();
46 
47  // Documentation inherited
48  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
49 
50  // Documentation inherited
51  public: virtual void SetAnchor(unsigned int _index,
52  const math::Vector3 &_anchor);
53 
54  // Documentation inherited
55  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
56 
57  // Documentation inherited
58  public: virtual void SetAxis(unsigned int _index,
59  const math::Vector3 &_axis);
60 
61  // Documentation inherited
62  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
63 
64  // Documentation inherited
65  public: virtual double GetVelocity(unsigned int _index) const;
66 
67  // Documentation inherited
68  public: virtual void SetVelocity(unsigned int _index, double _angle);
69 
70  // Documentation inherited
71  public: virtual void SetParam(unsigned int _parameter, double _value);
72 
73  // Documentation inherited.
74  public: virtual bool SetHighStop(unsigned int _index,
75  const math::Angle &_angle);
76 
77  // Documentation inherited.
78  public: virtual bool SetLowStop(unsigned int _index,
79  const math::Angle &_angle);
80 
81  // Documentation inherited.
82  public: virtual bool SetParam(const std::string &_key,
83  unsigned int _index,
84  const boost::any &_value);
85 
86  // Documentation inherited.
87  public: virtual double GetParam(const std::string &_key,
88  unsigned int _index);
89 
90  // Documentation inherited
91  public: virtual double GetParam(unsigned int _parameter) const;
92 
93  // Documentation inherited
94  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
95  };
97  }
98 }
99 #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
A universal joint.
Definition: ODEUniversalJoint.hh:36
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