17#ifndef _GAZEBO_BULLETSLIDERJOINT_HH_
18#define _GAZEBO_BULLETSLIDERJOINT_HH_
26class btSliderConstraint;
46 protected:
virtual void Load(sdf::ElementPtr _sdf);
49 protected:
virtual void Init();
52 public:
virtual void SetAxis(
const unsigned int _index,
53 const ignition::math::Vector3d &_axis);
57 const double _damping);
68 public:
virtual double UpperLimit(
const unsigned int _index)
const;
71 public:
virtual double LowerLimit(
const unsigned int _index)
const;
74 public:
virtual double GetVelocity(
unsigned int _index)
const;
77 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
81 const unsigned int _index)
const;
84 public:
virtual double PositionImpl(
const unsigned int _index)
const;
87 public:
virtual bool SetParam(
const std::string &_key,
89 const boost::any &_value);
92 public:
virtual double GetParam(
const std::string &_key,
96 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
99 private: btSliderConstraint *bulletSlider;
103 private: ignition::math::Vector3d initialWorldAxis;
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A slider joint.
Definition BulletSliderJoint.hh:38
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
virtual void SetDamping(unsigned int _index, const double _damping)
Set the joint damping.
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
virtual void Init()
Initialize a joint.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
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 BulletSliderJoint.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
BulletSliderJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ~BulletSliderJoint()
Destructor.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A slider joint.
Definition SliderJoint.hh:39
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27