Hinge2Joint.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 hinge joint with 2 degrees of freedom 00022 * Author: Nate Keonig, Andrew Howard 00023 * Date: 21 May 2003 00024 * CVS: $Id: Hinge2Joint.hh,v 1.9 2005/12/02 16:26:51 natepak Exp $ 00025 */ 00026 00027 #ifndef HINGE2JOINT_HH 00028 #define HINGE2JOINT_HH 00029 00030 #include "Vector.hh" 00031 #include "Joint.hh" 00032 00033 class World; 00034 00035 class Hinge2Joint : public Joint 00036 { 00038 public: Hinge2Joint(World *world); 00039 00040 // Destructor 00041 public: virtual ~Hinge2Joint(); 00042 00044 public: virtual void SetAnchor( GzVector anchor ); 00045 00047 public: void SetAxis1( GzVector axis ); 00048 00050 public: void SetAxis2( GzVector axis ); 00051 00053 public: virtual double GetParam( int parameter ) const; 00054 00056 public: virtual void SetParam( int parameter, double value ); 00057 00059 public: virtual GzVector GetAnchor() const; 00060 00062 public: GzVector GetAnchor2() const; 00063 00065 public: GzVector GetAxis1() const; 00066 00068 public: GzVector GetAxis2() const; 00069 00071 public: double GetAngle1() const; 00072 00074 public: double GetAngle1Rate() const; 00075 00077 public: double GetAngle2Rate() const; 00078 00079 public: void SetTorque(double torque1, double torque2); 00080 }; 00081 00082 #endif 00083