BulletUniversalJoint.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.
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16*/
17#ifndef _GAZEBO_BULLETUNIVERSALJOINT_HH_
18#define _GAZEBO_BULLETUNIVERSALJOINT_HH_
19
20#include <string>
25#include "gazebo/util/system.hh"
26
27class btUniversalConstraint;
28
29namespace gazebo
30{
31 namespace physics
32 {
36
38 class GZ_PHYSICS_VISIBLE BulletUniversalJoint
39 : public UniversalJoint<BulletJoint>
40 {
42 public: BulletUniversalJoint(btDynamicsWorld *world, BasePtr _parent);
43
45 public: virtual ~BulletUniversalJoint();
46
47 // Documentation inherited.
48 public: virtual void Load(sdf::ElementPtr _sdf);
49
50 // Documentation inherited.
51 public: virtual void Init();
52
53 // Documentation inherited.
54 public: virtual ignition::math::Vector3d Anchor(
55 const unsigned int _index) const;
56
57 // Documentation inherited.
58 public: void SetAxis(const unsigned int _index,
59 const ignition::math::Vector3d &_axis);
60
61 // Documentation inherited.
62 public: virtual void SetVelocity(unsigned int _index, double _angle);
63
64 // Documentation inherited.
65 public: virtual double GetVelocity(unsigned int _index) const;
66
67 // Documentation inherited.
68 public: virtual void SetUpperLimit(const unsigned int _index,
69 const double _limit);
70
71 // Documentation inherited.
72 public: virtual void SetLowerLimit(const unsigned int _index,
73 const double _limit);
74
75 // Documentation inherited.
76 public: virtual double UpperLimit(const unsigned int _index) const;
77
78 // Documentation inherited.
79 public: virtual double LowerLimit(const unsigned int _index) const;
80
81 // Documentation inherited. \sa Joint::GlobalAxis
82 public: virtual ignition::math::Vector3d GlobalAxis(
83 const unsigned int _index) const;
84
85 // Documentation inherited.
86 public: virtual double PositionImpl(const unsigned int _index) const;
87
88 // Documentation inherited.
89 public: virtual bool SetParam(const std::string &_key,
90 unsigned int _index,
91 const boost::any &_value);
92
93 // Documentation inherited.
94 public: virtual double GetParam(const std::string &_key,
95 unsigned int _index);
96
97 // Documentation inherited. \sa void BulletJoint::SetForceImpl
98 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
99
101 private: gzBtUniversalConstraint *bulletUniversal;
102
105 private: double angleOffset[2];
106
109 private: ignition::math::Vector3d initialWorldAxis[2];
110 };
112 }
113}
114#endif
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A bullet universal joint class.
Definition BulletUniversalJoint.hh:40
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 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 ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
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 ~BulletUniversalJoint()
Destuctor.
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 a UniversalJoint.
BulletUniversalJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
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 ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A universal joint.
Definition UniversalJoint.hh:36
Functions that implement a universal joint/constraint using bullet.
Definition gzBtUniversalConstraint.hh:30
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27