Hinge2Joint.hh

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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 1.9 2005/12/02 16:26:51 natepak 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 
00035 class Hinge2Joint : public Joint
00036 {
00038   public: Hinge2Joint(World *world);
00039 
00040   // Destructor
00041   public: virtual ~Hinge2Joint(); 
00042  
00044   public: virtual void SetAnchor( GzVector anchor );
00045 
00047   public: void SetAxis1( GzVector axis );
00048 
00050   public: void SetAxis2( GzVector axis );
00051 
00053   public: virtual double GetParam( int parameter ) const;
00054 
00056   public: virtual void SetParam( int parameter, double value );
00057 
00059   public: virtual GzVector GetAnchor() const;
00060 
00062   public: GzVector GetAnchor2() const;
00063 
00065   public: GzVector GetAxis1() const;
00066 
00068   public: GzVector GetAxis2() const;
00069 
00071   public: double GetAngle1() const;
00072 
00074   public: double GetAngle1Rate() const;
00075 
00077   public: double GetAngle2Rate() const;
00078 
00079   public: void SetTorque(double torque1, double torque2);
00080 };
00081 
00082 #endif
00083
Last updated 12 September 2005 21:38:45