SimbodySliderJoint.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.
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_SLIDERJOINT_HH_
19 #define _SIMBODY_SLIDERJOINT_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodySliderJoint :
36  public SliderJoint<SimbodyJoint>
37  {
41  public: SimbodySliderJoint(SimTK::MultibodySystem *world,
42  BasePtr _parent);
43 
45  public: virtual ~SimbodySliderJoint();
46 
47  // Documentation inherited.
48  public: virtual void SetAxis(const unsigned int _index,
49  const ignition::math::Vector3d &_axis);
50 
51  // Documentation inherited.
52  public: virtual void SetVelocity(unsigned int _index, double _rate);
53 
54  // Documentation inherited.
55  public: virtual double GetVelocity(unsigned int _index) const;
56 
57  // Documentation inherited.
58  public: virtual ignition::math::Vector3d GlobalAxis(
59  const unsigned int _index) const;
60 
61  // Documentation inherited.
62  public: virtual double PositionImpl(const unsigned int _index) const;
63 
64  // Documentation inherited.
65  protected: virtual void Load(sdf::ElementPtr _sdf);
66 
67  // Documentation inherited.
68  protected: virtual void SetForceImpl(unsigned int _index, double _force);
69  };
70 
72  }
73 }
74 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual void SetVelocity(unsigned int _index, double _rate)
Set the velocity of an axis(index).
A slider joint.
Definition: SliderJoint.hh:38
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
A slider joint.
Definition: SimbodySliderJoint.hh:35
virtual ~SimbodySliderJoint()
Destructor.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
virtual void SetForceImpl(unsigned int _index, double _force)
Set the force applied to this physics::Joint.
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.
SimbodySliderJoint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void Load(sdf::ElementPtr _sdf)
Load a SliderJoint.
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:221