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SliderJoint.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 slider or primastic joint
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: SliderJoint.hh,v 1.5 2005/12/02 16:26:51 natepak Exp $
00025  */
00026 
00027 #ifndef SLIDERJOINT_HH
00028 #define SLIDERJOINT_HH
00029 
00030 #include "Joint.hh"
00031 
00032 class JointGroup;
00033 
00034 class SliderJoint : public Joint
00035 {
00036   // Constructor
00037   public: SliderJoint( dWorldID worldId, JointGroup *group=NULL );
00038 
00039   // Destructor
00040   public: virtual ~SliderJoint();
00041 
00042   // Get the axis of rotation
00043   public: void GetAxis( dVector3 result ) const;
00044 
00045   // Get the position of the joint
00046   public: double GetPosition() const;
00047 
00048   // Get the rate of change
00049   public: double GetPositionRate() const;
00050 
00051   // Get the _parameter
00052   public: virtual double GetParam( int parameter ) const;
00053 
00054   // Set the axis of motion
00055   public: void SetAxis( double x, double y, double z );
00056 
00057   // Set the _parameter
00058   public: virtual void SetParam( int parameter, double value);
00059 
00060   public: virtual void SetAnchor( GzVector anchor) {}
00061 
00062   public: void SetSliderForce(double force);
00063 };
00064 
00065 #endif

Last updated 12 September 2005 21:38:45