HingeJoint.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 body that has a box shape
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: HingeJoint.hh,v 1.8 2005/12/02 16:26:51 natepak 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 
00035 class HingeJoint : public Joint
00036 {
00038   public: HingeJoint(World *world);
00039 
00040   // Destructor
00041   public: virtual ~HingeJoint();
00042 
00043   // Get the angle of rotation
00044   public: double GetAngle() const;
00045 
00046   // Get the rotation rate
00047   public: double GetAngleRate() const;
00048 
00049   // Get the specified parameter
00050   public: virtual double GetParam( int parameter ) const;
00051 
00053   public: virtual void SetAnchor(GzVector anchor);
00054 
00056   public: void SetAxis(GzVector axis);
00057 
00059   public: virtual GzVector GetAnchor() const;
00060 
00062   public: GzVector GetAxis() const;
00063 
00064   // Set the parameter to value
00065   public: virtual void SetParam( int parameter, double value );
00066 
00067   // Set the torque of a joint.
00068   public: void SetTorque(double torque);
00069 };
00070 
00071 #endif
00072
Last updated 12 September 2005 21:38:45