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Joint.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: The base joint class 00022 * Author: Nate Keonig, Andrew Howard 00023 * Date: 21 May 2003 00024 * CVS: $Id: Joint.hh,v 1.6 2004/06/01 00:04:07 inspectorg Exp $ 00025 */ 00026 00027 #ifndef JOINT_HH 00028 #define JOINT_HH 00029 00030 #include <ode/ode.h> 00031 00032 class Body; 00033 00034 class Joint 00035 { 00036 // Constructor 00037 protected: Joint(); 00038 00039 // Destructor 00040 protected: virtual ~Joint(); 00041 00042 // Get the type of the joint 00043 public: int GetType() const; 00044 00045 // Get the body to which the joint is attached according the _index 00046 public: Body *GetJointBody( int index ) const; 00047 00048 // Determines of the two bodies are connected by a joint 00049 public: bool AreConnected( Body *one, Body *two ) const; 00050 00051 // Get the _parameter 00052 public: virtual double GetParam(int parameter) const; 00053 00054 // Make this joint a fixed joint 00055 // Use this only when absolutely necessary 00056 public: void SetFixed(); 00057 00058 // Attach the two bodies with this joint 00059 public: void Attach( Body *one, Body *two ); 00060 00061 // Detach this joint from all bodies 00062 public: void Detach(); 00063 00064 // Set the _parameter to _value 00065 public: virtual void SetParam( int parameter, double value ); 00066 00067 // This is our id 00068 protected: dJointID jointId; 00069 00070 // The first body this joint connects to 00071 private: Body* body1; 00072 00073 // The second body this joint connects to 00074 private: Body* body2; 00075 }; 00076 00077 #endif 00078
