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UniversalJoint.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 universal joint
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: UniversalJoint.hh,v 1.7 2005/12/02 16:26:51 natepak Exp $
00025  */
00026 
00027 #ifndef UNIVERSALJOINT_HH
00028 #define UNIVERSALJOINT_HH
00029 
00030 #include "Joint.hh"
00031 
00032 class World;
00033 
00034 class UniversalJoint : public Joint
00035 {
00037   public: UniversalJoint(World *world);
00038 
00039   // Destuctor
00040   public: virtual ~UniversalJoint();
00041 
00042   // Get the anchor point
00043   public: virtual GzVector GetAnchor() const;
00044 
00045   // Get the first axis of rotation
00046   public: GzVector GetAxis1() const;
00047 
00048   // Get the second axis of rotation
00049   public: GzVector GetAxis2() const;
00050 
00051   // Get the angle of axis 1
00052   public: double GetAngle1() const;
00053 
00054   // Get the angle of axis 2
00055   public: double GetAngle2() const;
00056 
00057   // Get the angular rate of axis 1
00058   public: double GetAngleRate1() const;
00059 
00060   // Get the angular rate of axis 2
00061   public: double GetAngleRate2() const;
00062 
00063   // Set the anchor point
00064   public: virtual void SetAnchor( GzVector anchor );
00065 
00066   // Set the first axis of rotation
00067   public: void SetAxis1( GzVector axis );
00068 
00069   // Set the second axis of rotation
00070   public: void SetAxis2( GzVector axis );
00071 
00072   // Set the parameter to value
00073   public: virtual void SetParam( int parameter, double value );
00074 
00075   // Set the torque of a joint.
00076   public: virtual void SetTorque(double torque1, double torque2);
00077 };
00078 
00079 #endif
00080 

Last updated 12 September 2005 21:38:45