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HingeJoint.hh
Go to the documentation of this 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 body that has a box shape 00022 * Author: Nate Keonig, Andrew Howard 00023 * Date: 21 May 2003 00024 * CVS: $Id: HingeJoint.hh,v 1.4 2004/12/06 05:57:48 inspectorg Exp $ 00025 */ 00026 00027 #ifndef HINGEJOINT_HH 00028 #define HINGEJOINT_HH 00029 00030 #include "Vector.hh" 00031 #include "Joint.hh" 00032 00033 class World; 00034 class JointGroup; 00035 00036 class HingeJoint : public Joint 00037 { 00039 public: HingeJoint(World *world); 00040 00043 public: HingeJoint( dWorldID worldId, JointGroup *group=NULL ); 00044 00045 // Destructor 00046 public: virtual ~HingeJoint(); 00047 00048 // Get the angle of rotation 00049 public: double GetAngle() const; 00050 00051 // Get the rotation rate 00052 public: double GetAngleRate() const; 00053 00054 // Get the specified parameter 00055 public: virtual double GetParam( int parameter ) const; 00056 00058 public: void SetAnchor(GzVector anchor); 00059 00061 public: void SetAxis(GzVector axis); 00062 00065 public: void SetAnchor( double x, double y, double z ); 00066 00069 public: void SetAxis( double x, double y, double z ); 00070 00073 public: void GetAnchor( dVector3 result ) const; 00074 00077 public: void GetAxis( dVector3 result ) const; 00078 00079 // Set the _parameter to _value 00080 public: virtual void SetParam( int parameter, double value ); 00081 00082 }; 00083 00084 #endif 00085
