ODEGearboxJoint.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _ODEGEARBOXJOINT_HH_
19#define _ODEGEARBOXJOINT_HH_
20
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
27 namespace physics
28 {
31
34 class GZ_PHYSICS_VISIBLE ODEGearboxJoint : public GearboxJoint<ODEJoint>
35 {
39 public: ODEGearboxJoint(dWorldID _worldId, BasePtr _parent);
40
42 public: virtual ~ODEGearboxJoint();
43
44 // Documentation inherited
45 public: virtual void Load(sdf::ElementPtr _sdf);
46
47 // Documentation inherited
48 public: virtual void Init();
49
50 // Documentation inherited
51 public: virtual ignition::math::Vector3d Anchor(
52 const unsigned int _index) const;
53
54 // Documentation inherited
55 public: virtual void SetAnchor(const unsigned int _index,
56 const ignition::math::Vector3d &_anchor);
57
58 // Documentation inherited
59 public: virtual ignition::math::Vector3d GlobalAxis(
60 const unsigned int _index) const;
61
62 // Documentation inherited
63 public: virtual void SetAxis(const unsigned int _index,
64 const ignition::math::Vector3d &_axis);
65
66 // Documentation inherited
67 public: virtual void SetGearboxRatio(double _gearRatio);
68
69 // Documentation inherited
70 public: virtual double PositionImpl(const unsigned int _index) const;
71
72 // Documentation inherited
73 public: virtual void SetVelocity(unsigned int _index, double _angle);
74
75 // Documentation inherited
76 public: virtual double GetVelocity(unsigned int _index) const;
77
78 // Documentation inherited
79 public: virtual double GetParam(unsigned int _parameter) const;
80
81 // Documentation inherited
82 public: virtual void SetParam(unsigned int _parameter, double _value);
83
84 // Documentation inherited
85 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
86
89 private: void SetReferenceBody(LinkPtr _body);
90 };
92 }
93}
94#endif
A double axis gearbox joint.
Definition GearboxJoint.hh:43
A double axis gearbox joint.
Definition ODEGearboxJoint.hh:35
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual void Init()
Initialize joint.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void SetGearboxRatio(double _gearRatio)
Set gearbox joint gear ratio.
virtual ~ODEGearboxJoint()
Destructor.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
ODEGearboxJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
virtual void SetParam(unsigned int _parameter, double _value)
Set an ODE joint paramter.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual double GetParam(unsigned int _parameter) const
Get an ODE joint parameter.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27