HingeJoint.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 body that has a box shape
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: HingeJoint.hh 123 2007-09-19 20:36:14Z natepak $
00025  */
00026 
00027 #ifndef HINGEJOINT_HH
00028 #define HINGEJOINT_HH
00029 
00030 #include "Vector3.hh"
00031 #include "Joint.hh"
00032 
00033 namespace gazebo
00034 {
00035 
00038 
00071 
00072 
00075 
00077 class HingeJoint : public Joint
00078 {
00080   public: HingeJoint(dWorldID worldId);
00081 
00083   public: virtual ~HingeJoint();
00084 
00086   protected: virtual void LoadChild(XMLConfigNode *node);
00087 
00089   public: double GetAngle() const;
00090 
00092   public: double GetAngleRate() const;
00093 
00095   public: virtual double GetParam( int parameter ) const;
00096 
00098   public: virtual void SetAnchor(const Vector3 &anchor);
00099 
00101   public: void SetAxis(const Vector3 &axis);
00102 
00104   public: virtual Vector3 GetAnchor() const;
00105 
00107   public: Vector3 GetAxis() const;
00108 
00110   public: virtual void SetParam( int parameter, double value);
00111 
00113   public: void SetTorque(double torque);
00114 };
00116 
00117 }
00118 #endif
00119
Last updated Aug 04 2007