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 1.7 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