UniversalJoint.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 universal joint
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: UniversalJoint.hh 123 2007-09-19 20:36:14Z natepak $
00025  */
00026 
00027 #ifndef UNIVERSALJOINT_HH
00028 #define UNIVERSALJOINT_HH
00029 
00030 #include "Joint.hh"
00031 
00032 namespace gazebo
00033 {
00036 
00081 
00082 
00085 
00087 class UniversalJoint : public Joint
00088 {
00090   public: UniversalJoint(dWorldID worldId);
00091 
00093   public: virtual ~UniversalJoint();
00094 
00096   protected: virtual void LoadChild(XMLConfigNode *node);
00097 
00099   public: virtual Vector3 GetAnchor() const;
00100 
00102   public: Vector3 GetAxis1() const;
00103 
00105   public: Vector3 GetAxis2() const;
00106 
00108   public: double GetAngle1() const;
00109 
00111   public: double GetAngle2() const;
00112 
00114   public: double GetAngleRate1() const;
00115 
00117   public: double GetAngleRate2() const;
00118 
00120   public: virtual void SetAnchor( const Vector3 &anchor );
00121 
00123   public: void SetAxis1( const Vector3 &axis );
00124 
00126   public: void SetAxis2( const Vector3 &axis );
00127 
00129   public: virtual void SetParam( int parameter, double value );
00130 
00132   public: virtual void SetTorque(double torque1, double torque2);
00133 };
00134 
00136 }
00137 #endif
00138
Last updated Aug 04 2007