75 lines
2.2 KiB
C++
75 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_DARTUNIVERSALJOINT_HH_
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#define _GAZEBO_DARTUNIVERSALJOINT_HH_
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#include "gazebo/physics/UniversalJoint.hh"
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#include "gazebo/physics/dart/DARTJoint.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics_dart
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/// \{
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/// \brief A universal joint.
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class GZ_PHYSICS_VISIBLE DARTUniversalJoint :
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public UniversalJoint<DARTJoint>
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{
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/// \brief Constructor.
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/// \param[in] _parent Pointer to the Link that is the joint' parent
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public: DARTUniversalJoint(BasePtr _parent);
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/// \brief Destuctor.
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public: virtual ~DARTUniversalJoint();
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// Documentation inherited.
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public: virtual void Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: virtual void Init();
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// Documentation inherited
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public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
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// Documentation inherited
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public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
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// Documentation inherited
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public: virtual void SetAxis(unsigned int _index,
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const math::Vector3 &_axis);
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// Documentation inherited
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public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
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// Documentation inherited
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public: virtual double GetVelocity(unsigned int _index) const;
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// Documentation inherited
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public: virtual void SetVelocity(unsigned int _index, double _vel);
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// Documentation inherited
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protected: virtual void SetForceImpl(unsigned int _index, double _effort);
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};
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/// \}
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}
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}
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#endif
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