ODEJoint.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: The ODE base joint class
 * Author: Nate Keonig, Andrew Howard
 * Date: 12 Oct 2009
 */

#ifndef ODEJOINT_HH
#define ODEJOINT_HH

#include "physics/ode/ODEPhysics.hh"
#include "physics/Joint.hh"

namespace gazebo
{
    namespace physics
  {
    

    class ODEJoint : public Joint
    {
      public: ODEJoint();
    
      public: virtual ~ODEJoint();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );
  
      public: virtual LinkPtr GetJointLink( int index ) const;
  
      public: bool virtual AreConnected( LinkPtr one, LinkPtr two ) const;
  
      public: virtual double GetParam( int /*parameter*/ ) const;
  
      public: virtual void Attach( LinkPtr parent, LinkPtr child );
  
      public: virtual void Detach();
  
      public: virtual void SetParam(int /*parameter*/, double /*value*/);
  
      public: void SetERP(double newERP);
  
      public: double GetERP();
  
      public: void SetCFM(double newCFM);
  
      public: double GetCFM();
  
      public: dJointFeedback *GetFeedback();
  
      public: virtual void SetHighStop(int index, math::Angle angle);
  
      public: virtual void SetLowStop(int index, math::Angle angle);
   
      public: virtual math::Angle GetHighStop(int index);
  
      public: virtual math::Angle GetLowStop(int index);
  
      public: virtual math::Vector3 GetLinkForce(unsigned int index) const;
  
      public: virtual math::Vector3 GetLinkTorque(unsigned int index) const;
  
      public: virtual void SetAttribute( Attribute, int index, double value);
   
      public: virtual void Reset();

      protected: dJointID jointId;
    
      private: dJointFeedback *feedback;
    };
  }
}
#endif