100 lines
3.2 KiB
C++
100 lines
3.2 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
#ifndef _ODEUNIVERSALJOINT_HH_
|
|
#define _ODEUNIVERSALJOINT_HH_
|
|
|
|
#include <boost/any.hpp>
|
|
#include <string>
|
|
|
|
#include "gazebo/common/Exception.hh"
|
|
#include "gazebo/physics/UniversalJoint.hh"
|
|
#include "gazebo/physics/ode/ODEJoint.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace physics
|
|
{
|
|
/// \addtogroup gazebo_physics_ode
|
|
/// \{
|
|
|
|
/// \brief A universal joint.
|
|
class GZ_PHYSICS_VISIBLE ODEUniversalJoint :
|
|
public UniversalJoint<ODEJoint>
|
|
{
|
|
/// \brief Constructor.
|
|
/// \param[in] _worldId ODE world id.
|
|
/// \param[in] _parent Pointer to the Link that is the joint' parent
|
|
public: ODEUniversalJoint(dWorldID _worldId, BasePtr _parent);
|
|
|
|
/// \brief Destuctor.
|
|
public: virtual ~ODEUniversalJoint();
|
|
|
|
// Documentation inherited
|
|
public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
|
|
|
|
// Documentation inherited
|
|
public: virtual void SetAnchor(unsigned int _index,
|
|
const math::Vector3 &_anchor);
|
|
|
|
// Documentation inherited
|
|
public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
|
|
|
|
// Documentation inherited
|
|
public: virtual void SetAxis(unsigned int _index,
|
|
const math::Vector3 &_axis);
|
|
|
|
// Documentation inherited
|
|
public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
|
|
|
|
// Documentation inherited
|
|
public: virtual double GetVelocity(unsigned int _index) const;
|
|
|
|
// Documentation inherited
|
|
public: virtual void SetVelocity(unsigned int _index, double _angle);
|
|
|
|
// Documentation inherited
|
|
public: virtual void SetParam(unsigned int _parameter, double _value);
|
|
|
|
// Documentation inherited.
|
|
public: virtual bool SetHighStop(unsigned int _index,
|
|
const math::Angle &_angle);
|
|
|
|
// Documentation inherited.
|
|
public: virtual bool SetLowStop(unsigned int _index,
|
|
const math::Angle &_angle);
|
|
|
|
// Documentation inherited.
|
|
public: virtual bool SetParam(const std::string &_key,
|
|
unsigned int _index,
|
|
const boost::any &_value);
|
|
|
|
// Documentation inherited.
|
|
public: virtual double GetParam(const std::string &_key,
|
|
unsigned int _index);
|
|
|
|
// Documentation inherited
|
|
public: virtual double GetParam(unsigned int _parameter) const;
|
|
|
|
// Documentation inherited
|
|
protected: virtual void SetForceImpl(unsigned int _index, double _effort);
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|