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Joint.hh

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: The base joint class
 * Author: Nate Keonig, Andrew Howard
 * Date: 21 May 2003
 * CVS: $Id: Joint.hh 281 2008-03-06 12:00:34Z robotos $
 */

#ifndef JOINT_HH
#define JOINT_HH

#include <ode/ode.h>

#include "Vector3.hh"

namespace gazebo
{
  
  class Body;
  class XMLConfigNode;
  class Model;
  class OgreDynamicLines;
  class OgreVisual; 

  class Joint
  {
    public: enum Type {SLIDER, HINGE, HINGE2, BALL, UNIVERSAL};

    public: Joint();

    public: virtual ~Joint();

    public: void Load(XMLConfigNode *node);

    protected: virtual void LoadChild(XMLConfigNode *node) {};

    public: void Update();

    public: void Reset();

    protected: virtual void ResetChild() {};

    public: void SetModel(Model *model);

    public: Joint::Type GetType() const;

    public: Body *GetJointBody( int index ) const;

    public: bool AreConnected( Body *one, Body *two ) const;

    public: virtual double GetParam(int parameter) const;

    public: void SetFixed();

    public: void Attach( Body *one, Body *two );

    public: void Detach();

    public: virtual void SetAnchor( const gazebo::Vector3 & /*anchor*/ ) {}

    public: virtual gazebo::Vector3 GetAnchor() const
            {return gazebo::Vector3(0,0,0);}


    public: virtual void SetParam( int parameter, double value );

    public: std::string GetName() const;

    public: void SetName(const std::string &name);

    public: void SetERP(double newERP);

    public: double GetERP();

    public: void SetCFM(double newERP);

    public: double GetCFM();

    public: double GetHighStop(int index=0);

    public: double GetLowStop(int index=0);
   
    protected: dJointID jointId;

    protected: Type type;

    private: Body *body1;

    private: Body *body2;

    private: std::string name;

    private: OgreVisual *visual;

    private: Model *model;

    private: OgreDynamicLines *line1;
    private: OgreDynamicLines *line2;
  };

}
#endif

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Last updated Aug 04 2007