76 lines
2.3 KiB
C++
76 lines
2.3 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 _SIMBODY_SLIDERJOINT_HH_
|
|
#define _SIMBODY_SLIDERJOINT_HH_
|
|
|
|
#include "gazebo/math/Angle.hh"
|
|
#include "gazebo/math/Vector3.hh"
|
|
#include "gazebo/physics/simbody/SimbodyJoint.hh"
|
|
#include "gazebo/physics/SliderJoint.hh"
|
|
#include "gazebo/physics/simbody/SimbodyPhysics.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace physics
|
|
{
|
|
/// \ingroup gazebo_physics
|
|
/// \addtogroup gazebo_physics_simbody Simbody Physics
|
|
/// \{
|
|
|
|
/// \brief A slider joint
|
|
class GZ_PHYSICS_VISIBLE SimbodySliderJoint :
|
|
public SliderJoint<SimbodyJoint>
|
|
{
|
|
/// \brief Constructor
|
|
/// \param[in] _world Pointer to the Simbody world.
|
|
/// \param[in] _parent Parent of the screw joint.
|
|
public: SimbodySliderJoint(SimTK::MultibodySystem *world,
|
|
BasePtr _parent);
|
|
|
|
/// \brief Destructor
|
|
public: virtual ~SimbodySliderJoint();
|
|
|
|
// Documentation inherited.
|
|
public: virtual void SetAxis(unsigned int _index,
|
|
const math::Vector3 &_axis);
|
|
|
|
// Documentation inherited.
|
|
public: virtual void SetVelocity(unsigned int _index, double _rate);
|
|
|
|
// Documentation inherited.
|
|
public: virtual double GetVelocity(unsigned int _index) const;
|
|
|
|
// Documentation inherited.
|
|
public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
|
|
|
|
// Documentation inherited.
|
|
public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
|
|
|
|
// Documentation inherited.
|
|
protected: virtual void Load(sdf::ElementPtr _sdf);
|
|
|
|
// Documentation inherited.
|
|
protected: virtual void SetForceImpl(unsigned int _index, double _force);
|
|
};
|
|
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|