Gazebo Gazebo: Hinge2Joint.hh Source File

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: A hinge joint with 2 degrees of freedom
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: Hinge2Joint.hh,v 1.6 2004/12/06 05:57:48 inspectorg Exp $
00025  */
00026 
00027 #ifndef HINGE2JOINT_HH
00028 #define HINGE2JOINT_HH
00029 
00030 #include "Vector.hh"
00031 #include "Joint.hh"
00032 
00033 class World;
00034 class JointGroup;
00035 
00036 class Hinge2Joint : public Joint
00037 {
00039   public: Hinge2Joint(World *world);
00040 
00043   public: Hinge2Joint( dWorldID worldId, JointGroup *group = NULL );
00044 
00045   // Destructor
00046   public: virtual ~Hinge2Joint(); 
00047  
00050   public: void SetAnchor( double x, double y, double z );
00051 
00054   public: void SetAxis1( double x, double y, double z );
00055 
00058   public: void SetAxis2( double x, double y, double z );
00059 
00061   public: void SetAnchor( GzVector anchor );
00062 
00064   public: void SetAxis1( GzVector axis );
00065 
00068   public: void SetAxis2( GzVector axis );
00069 
00071   public: virtual double GetParam( int parameter ) const;
00072 
00074   public: virtual void SetParam( int parameter, double value );
00075 
00078   public: void GetAnchor1(dVector3 result) const;
00079 
00082   public: void GetAnchor2(dVector3 result) const;
00083 
00086   public: void GetAxis1(dVector3 result) const;
00087 
00090   public: void GetAxis2(dVector3 result) const;
00091 
00093   public: double GetAngle1() const;
00094 
00096   public: double GetAngle1Rate() const;
00097 
00099   public: double GetAngle2Rate() const;
00100 
00101 };
00102 
00103 #endif
00104