96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
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/*
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* Copyright (C) 2012 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 _ODEGEARBOXJOINT_HH_
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#define _ODEGEARBOXJOINT_HH_
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#include "gazebo/math/Angle.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/physics/GearboxJoint.hh"
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#include "gazebo/physics/ode/ODEJoint.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_ode
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/// \{
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/// \class ODEGearboxJoint ODEGearboxJoint.hh physics/physics.hh
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/// \brief A double axis gearbox joint.
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class GZ_PHYSICS_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
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{
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/// \brief Constructor
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/// \param[in] _worldID ODE id of the world.
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/// \param[in] _parent Parent of the Joint
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public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
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/// \brief Destructor.
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public: virtual ~ODEGearboxJoint();
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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 void SetAnchor(unsigned int _index,
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const math::Vector3 &_anchor);
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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 void SetGearboxRatio(double _gearRatio);
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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 void SetVelocity(unsigned int _index, double _angle);
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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 double GetParam(unsigned int _parameter) const;
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// Documentation inherited
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public: virtual void SetParam(unsigned int _parameter, double _value);
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// Documentation inherited
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protected: virtual void SetForceImpl(unsigned int _index, double _effort);
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/// \brief Set gearbox joint gear reference body
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/// \param[in] _body an ode body as the reference link for the gears.
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private: void SetReferenceBody(LinkPtr _body);
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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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