BulletScrewJoint.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: A screw or primastic joint
18 * Author: Nate Koenig
19 * Date: 24 May 2009
20 */
21
22#ifndef _BULLETSCREWJOINT_HH_
23#define _BULLETSCREWJOINT_HH_
24
25#include <string>
26
29#include "gazebo/util/system.hh"
30
31namespace gazebo
32{
33 namespace physics
34 {
35 class btScrewConstraint;
36
40
42 class GZ_PHYSICS_VISIBLE BulletScrewJoint : public ScrewJoint<BulletJoint>
43 {
47 public: BulletScrewJoint(btDynamicsWorld *_world, BasePtr _parent);
48
50 public: virtual ~BulletScrewJoint();
51
54 public: virtual void Load(sdf::ElementPtr _sdf);
55
56 // Documentation inherited
57 public: virtual ignition::math::Vector3d Anchor(
58 const unsigned int _index) const;
59
60 // Documentation inherited
61 public: virtual void SetAnchor(const unsigned int _index,
62 const ignition::math::Vector3d &_anchor);
63
64 // Documentation inherited.
65 public: virtual void Init();
66
70 public: void SetAxis(const unsigned int _index,
71 const ignition::math::Vector3d &_axis);
72
73 // Documentation inherited
74 public: virtual void SetThreadPitch(unsigned int _index,
75 double _threadPitch);
76
77 // Documentation inherited
78 public: virtual void SetThreadPitch(double _threadPitch);
79
80 // Documentation inherited
81 public: virtual double GetThreadPitch(unsigned int _index);
82
83 // Documentation inherited
84 public: virtual double GetThreadPitch();
85
86 // Documentation inherited.
87 public: virtual void SetUpperLimit(const unsigned int _index,
88 const double _limit);
89
90 // Documentation inherited.
91 public: virtual void SetLowerLimit(const unsigned int _index,
92 const double _limit);
93
96 public: virtual double GetVelocity(unsigned int _index) const;
97
101 public: virtual void SetVelocity(unsigned int _index, double _vel);
102
106 public: virtual ignition::math::Vector3d GlobalAxis(
107 const unsigned int _index) const;
108
109 // Documentation inherited.
110 public: virtual double GetParam(const std::string &_key,
111 unsigned int _index);
112
113 // Documentation inherited.
114 protected: virtual double PositionImpl(const unsigned int _index) const;
115
116 // Documentation inherited.
117 protected: virtual void SetForceImpl(unsigned int _index, double _force);
118
120 private: btScrewConstraint *bulletScrew;
121
124 private: ignition::math::Vector3d initialWorldAxis;
125 };
127 }
128}
129#endif
A screw joint.
Definition BulletScrewJoint.hh:43
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
virtual void Init()
Initialize joint.
virtual double GetThreadPitch(unsigned int _index)
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual double GetThreadPitch()
Get screw joint thread pitch.
void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of motion.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the joint.
virtual void Load(sdf::ElementPtr _sdf)
Load the BulletScrewJoint.
virtual void SetForceImpl(unsigned int _index, double _force)
Set the force applied to this physics::Joint.
virtual double GetVelocity(unsigned int _index) const
Get the rate of change.
virtual void SetThreadPitch(double _threadPitch)
Set screw joint thread pitch.
BulletScrewJoint(btDynamicsWorld *_world, BasePtr _parent)
Constructor.
virtual void SetVelocity(unsigned int _index, double _vel)
Set the velocity of an axis(index).
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation.
virtual ~BulletScrewJoint()
Destructor.
A screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27