84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*
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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 _SIMBODY_HINGEJOINT_HH_
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#define _SIMBODY_HINGEJOINT_HH_
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#include <vector>
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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/HingeJoint.hh"
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#include "gazebo/physics/simbody/SimbodyJoint.hh"
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#include "gazebo/physics/simbody/SimbodyPhysics.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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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_simbody Simbody Physics
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/// \{
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/// \brief A single axis hinge joint
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class GZ_PHYSICS_VISIBLE SimbodyHingeJoint : public HingeJoint<SimbodyJoint>
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{
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/// Constructor
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public: SimbodyHingeJoint(SimTK::MultibodySystem *world, BasePtr _parent);
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/// Destructor
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public: virtual ~SimbodyHingeJoint();
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// Documentation inherited.
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protected: virtual void Load(sdf::ElementPtr _sdf);
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// Documentation inherited.
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public: void SetAxis(unsigned int _index, const math::Vector3 &_axis);
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// Documentation inherited.
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public: virtual void SetVelocity(unsigned int _index, double _rate);
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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 math::Vector3 GetGlobalAxis(unsigned int _index) const;
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/// \brief save simbody state for spawning
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public: virtual void SaveSimbodyState(const SimTK::State &_state);
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/// \brief restore simbody state for spawning
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public: virtual void RestoreSimbodyState(SimTK::State &_state);
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// Documentation inherited.
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protected: virtual math::Angle GetAngleImpl(unsigned int _index) const;
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// Documentation inherited.
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protected: virtual void SetForceImpl(unsigned int _index, double _torque);
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/// \brief save simbody state for reconstructing simbody model graph
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private: std::vector<double> simbodyQ;
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/// \brief save simbody state for reconstructing simbody model graph
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private: std::vector<double> simbodyU;
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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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