ODEHinge2Joint.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A hinge joint with 2 degrees of freedom
 * Author: Nate Keonig, Andrew Howard
 * Date: 21 May 2003
 * CVS: $Id: Hinge2Joint.hh 7129 2008-11-12 19:38:15Z natepak $
 */

#ifndef ODEHINGE2JOINT_HH
#define ODEHINGE2JOINT_HH

#include "math/Angle.hh"
#include "math/Vector3.hh"

#include "physics/Hinge2Joint.hh"
#include "physics/ode/ODEJoint.hh"

namespace gazebo
{
    namespace physics
  {
  
    


  class ODEHinge2Joint : public Hinge2Joint<ODEJoint>
  {
    public: ODEHinge2Joint(dWorldID worldId);
  
    public: virtual ~ODEHinge2Joint(); 
  
    protected: virtual void Load( sdf::ElementPtr &_sdf );
   
    public: virtual void SetAnchor( int index, const math::Vector3 &anchor );
  
    public: virtual void SetAxis( int index, const math::Vector3 &axis );
  
    public: virtual void SetDamping(int index, const double damping);
  
    public: virtual math::Vector3 GetAnchor(int index) const;
  
    public: virtual math::Vector3 GetGlobalAxis(int index) const;
  
    public: virtual math::Angle GetAngleImpl(int index) const;
  
    public: virtual double GetVelocity(int index) const;
  
    public: virtual void SetVelocity(int index, double angle);
  
    public: virtual void SetMaxForce(int index, double t);
  
    public: virtual double GetMaxForce(int index);
  
    public: virtual void SetForce(int index, double torque);
  
    public: virtual double GetParam( int parameter ) const;
  
    public: virtual void SetParam( int parameter, double value );
  };
  
  }
}
#endif