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UniversalJoint.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 universal joint 00022 * Author: Nate Keonig, Andrew Howard 00023 * Date: 21 May 2003 00024 * CVS: $Id: UniversalJoint.hh,v 1.3 2003/07/30 17:55:34 natepak Exp $ 00025 */ 00026 00027 #ifndef UNIVERSALJOINT_HH 00028 #define UNIVERSALJOINT_HH 00029 00030 #include "Joint.hh" 00031 00032 class JointGroup; 00033 00034 class UniversalJoint : public Joint 00035 { 00036 // Constructor 00037 public: UniversalJoint( dWorldID worldId, JointGroup *group=NULL ); 00038 00039 // Destuctor 00040 public: virtual ~UniversalJoint(); 00041 00042 // Get the anchor point 00043 public: void GetAnchor( dVector3 result ) const; 00044 00045 // Get the first axis of rotation 00046 public: void GetAxis1( dVector3 result ) const; 00047 00048 // Get the second axis of rotation 00049 public: void GetAxis2( dVector3 result ) const; 00050 00051 // Set the anchor point 00052 public: void SetAnchor( double x, double y, double z ); 00053 00054 // Set the first axis of rotation 00055 public: void SetAxis1( double x, double y, double z ); 00056 00057 // Set the second axis of rotation 00058 public: void SetAxis2( double x, double y, double z ); 00059 00060 }; 00061 00062 #endif 00063
