Hinge2Joint.hh

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 156 2007-11-26 20:26:57Z natepak $
00025  */
00026 
00027 #ifndef HINGE2JOINT_HH
00028 #define HINGE2JOINT_HH
00029 
00030 #include "Vector3.hh"
00031 #include "Joint.hh"
00032 
00033 namespace gazebo
00034 {
00035 
00038 
00083 
00084 
00085 
00086 
00088 class Hinge2Joint : public Joint
00089 {
00091   public: Hinge2Joint(dWorldID worldId);
00092 
00094   public: virtual ~Hinge2Joint(); 
00095 
00097   protected: virtual void LoadChild(XMLConfigNode *node);
00098  
00100   public: virtual void SetAnchor( const Vector3 &anchor );
00101 
00103   public: void SetAxis1( const Vector3 &axis );
00104 
00106   public: void SetAxis2( const Vector3 &axis );
00107 
00109   public: virtual double GetParam( int parameter ) const;
00110 
00112   public: virtual void SetParam( int parameter, double value );
00113 
00115   public: virtual Vector3 GetAnchor() const;
00116 
00118   public: Vector3 GetAnchor2() const;
00119 
00121   public: Vector3 GetAxis1() const;
00122 
00124   public: Vector3 GetAxis2() const;
00125 
00127   public: double GetAngle1() const;
00128 
00130   public: double GetAngle1Rate() const;
00131 
00133   public: double GetAngle2Rate() const;
00134 
00136   public: void SetTorque(double torque1, double torque2);
00137 };
00138 
00140 }
00141 #endif
00142
Last updated Aug 04 2007