SimbodySliderJoint.hh
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1 /*
2  * Copyright (C) 2012-2016 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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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_SLIDERJOINT_HH_
19 #define _SIMBODY_SLIDERJOINT_HH_
20 
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GZ_PHYSICS_VISIBLE SimbodySliderJoint :
38  public SliderJoint<SimbodyJoint>
39  {
43  public: SimbodySliderJoint(SimTK::MultibodySystem *world,
44  BasePtr _parent);
45 
47  public: virtual ~SimbodySliderJoint();
48 
49  // Documentation inherited.
50  public: virtual void SetAxis(unsigned int _index,
51  const math::Vector3 &_axis);
52 
53  // Documentation inherited.
54  public: virtual void SetVelocity(unsigned int _index, double _rate);
55 
56  // Documentation inherited.
57  public: virtual double GetVelocity(unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
61 
62  // Documentation inherited.
63  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
64 
65  // Documentation inherited.
66  protected: virtual void Load(sdf::ElementPtr _sdf);
67 
68  // Documentation inherited.
69  protected: virtual void SetForceImpl(unsigned int _index, double _force);
70  };
71 
73  }
74 }
75 #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 slider joint.
Definition: SliderJoint.hh:38
A slider joint.
Definition: SimbodySliderJoint.hh:37
An angle and related functions.
Definition: Angle.hh:53
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72