SliderJoint.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 slider or primastic joint
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: SliderJoint.hh 123 2007-09-19 20:36:14Z natepak $
00025  */
00026 
00027 #ifndef SLIDERJOINT_HH
00028 #define SLIDERJOINT_HH
00029 
00030 #include "Joint.hh"
00031 
00032 class JointGroup;
00033 
00034 namespace gazebo
00035 {
00036 
00039 
00072 
00073 
00074 
00077 
00079 class SliderJoint : public Joint
00080 {
00082   public: SliderJoint( dWorldID worldId );
00083 
00085   public: virtual ~SliderJoint();
00086 
00088   protected: virtual void LoadChild(XMLConfigNode *node);
00089 
00091   public: Vector3 GetAxis() const;
00092 
00094   public: double GetPosition() const;
00095 
00097   public: double GetPositionRate() const;
00098 
00100   public: virtual double GetParam( int parameter ) const;
00101 
00103   public: void SetAxis( double x, double y, double z );
00104 
00106   public: virtual void SetParam( int parameter, double value);
00107 
00109   public: virtual void SetAnchor( const Vector3 &anchor) {}
00110 
00112   public: void SetSliderForce(double force);
00113 };
00114 
00116 }
00117 #endif
Last updated Aug 04 2007