BulletHingeJoint.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#ifndef _GAZEBO_BULLETHINGEJOINT_HH_
18#define _GAZEBO_BULLETHINGEJOINT_HH_
19
20#include <string>
24#include "gazebo/util/system.hh"
25
26class btHingeConstraint;
27
28namespace gazebo
29{
30 namespace physics
31 {
35
37 class GZ_PHYSICS_VISIBLE BulletHingeJoint : public HingeJoint<BulletJoint>
38 {
40 public: BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent);
41
43 public: virtual ~BulletHingeJoint();
44
45 // Documentation inherited.
46 protected: virtual void Load(sdf::ElementPtr _sdf);
47
48 // Documentation inherited.
49 public: virtual void Init();
50
51 // Documentation inherited.
52 public: virtual ignition::math::Vector3d Anchor(
53 const unsigned int _index) const;
54
55 // Documentation inherited.
56 public: virtual void SetAxis(const unsigned int _index,
57 const ignition::math::Vector3d &_axis);
58
59 // Documentation inherited.
60 public: virtual void SetVelocity(unsigned int _index, double _vel);
61
62 // Documentation inherited.
63 public: virtual double GetVelocity(unsigned int _index) const;
64
65 // Documentation inherited.
66 public: virtual void SetUpperLimit(const unsigned int _index,
67 const double _limit);
68
69 // Documentation inherited.
70 public: virtual void SetLowerLimit(const unsigned int _index,
71 const double _limit);
72
73 // Documentation inherited.
74 public: virtual double UpperLimit(const unsigned int _index) const;
75
76 // Documentation inherited.
77 public: virtual double LowerLimit(const unsigned int _index) const;
78
79 // Documentation inherited.
80 public: virtual ignition::math::Vector3d GlobalAxis(
81 const unsigned int _index) const;
82
83 // Documentation inherited.
84 public: virtual double PositionImpl(const unsigned int _index) const;
85
86 // Documentation inherited.
87 public: virtual bool SetParam(const std::string &_key,
88 unsigned int _index,
89 const boost::any &_value);
90
91 // Documentation inherited.
92 public: virtual double GetParam(const std::string &_key,
93 unsigned int _index);
94
95 // Documentation inherited.
96 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
97
99 private: btHingeConstraint *bulletHinge;
100
103 private: double angleOffset;
104
107 private: ignition::math::Vector3d initialWorldAxis;
108 };
110 }
111}
112#endif
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A single axis hinge joint.
Definition BulletHingeJoint.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 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 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 ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual ~BulletHingeJoint()
Destructor.
BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
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 joint.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetVelocity(unsigned int _index, double _vel)
Set the velocity of an axis(index).
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A single axis hinge joint.
Definition HingeJoint.hh:38
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27