BulletHinge2Joint.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 hinge joint with 2 degrees of freedom
18 * Author: Nate Koenig, Andrew Howard
19 * Date: 21 May 2003
20 */
21
22#ifndef _BULLETHINGE2JOINT_HH_
23#define _BULLETHINGE2JOINT_HH_
24
28#include "gazebo/util/system.hh"
29
30class btHinge2Constraint;
31
32namespace gazebo
33{
34 namespace physics
35 {
39
41 class GZ_PHYSICS_VISIBLE BulletHinge2Joint : public Hinge2Joint<BulletJoint>
42 {
44 public: BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent);
45
47 public: virtual ~BulletHinge2Joint();
48
49 // Documentation inherited.
50 protected: virtual void Load(sdf::ElementPtr _sdf);
51
52 // Documentation inherited.
53 public: virtual void Init();
54
55 // Documentation inherited.
56 public: virtual ignition::math::Vector3d Anchor(
57 const unsigned int _index) const;
58
59 // Documentation inherited.
60 public: virtual void SetAxis(const unsigned int _index,
61 const ignition::math::Vector3d &_axis);
62
63 // Documentation inherited.
64 public: double GetVelocity(unsigned int _index) const;
65
66 // Documentation inherited.
67 public: virtual void SetVelocity(unsigned int _index, double _angle);
68
69 // Documentation inherited.
70 public: virtual void SetUpperLimit(const unsigned int _index,
71 const double _limit);
72
73 // Documentation inherited.
74 public: virtual void SetLowerLimit(const unsigned int _index,
75 const double _limit);
76
77 // Documentation inherited.
78 public: virtual double UpperLimit(const unsigned int _index) const;
79
80 // Documentation inherited.
81 public: virtual double LowerLimit(const unsigned int _index) const;
82
83 // Documentation inherited.
84 public: virtual ignition::math::Vector3d GlobalAxis(
85 const unsigned int _index) const;
86
87 // Documentation inherited.
88 public: virtual double PositionImpl(const unsigned int _index) const;
89
90 // Documentation inherited.
91 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
92
94 private: btHinge2Constraint *bulletHinge2;
95
98 private: double angleOffset[2];
99
102 private: ignition::math::Vector3d initialWorldAxis[2];
103 };
104
106 }
107}
108#endif
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A two axis hinge joint.
Definition BulletHinge2Joint.hh:42
BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
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 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.
double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
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.
virtual ~BulletHinge2Joint()
Destructor.
A two axis hinge joint.
Definition Hinge2Joint.hh:42
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27