ODEScrewJoint.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: A screw or primastic joint
 * Author: Nate Keonig, Andrew Howard
 * Date: 21 May 2003
 * CVS: $Id: ScrewJoint.hh 7039 2008-09-24 18:06:29Z natepak $
 */

#ifndef ODESCREWJOINT_HH
#define ODESCREWJOINT_HH

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

namespace gazebo
{



  namespace physics
  {
    class ODEScrewJoint : public ScrewJoint<ODEJoint>
    {
      public: ODEScrewJoint( dWorldID worldId );
    
      public: virtual ~ODEScrewJoint();
    
      protected: virtual void Load( sdf::ElementPtr &_sdf );

      public: virtual math::Vector3 GetGlobalAxis(int index) const;

      public: virtual void SetAxis( int index, const math::Vector3 &axis );
    
      public: virtual void SetDamping(int index, const double damping);

      public: virtual void SetThreadPitch(int index, const double _thread_pitch);

      public: void ApplyDamping();

      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 SetForce(int index, double force);

      public: virtual void SetMaxForce(int index, double t);

      public: virtual double GetMaxForce(int index);

      public: virtual double GetParam( int parameter ) const;

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