BulletFixedJoint.hh
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1/*
2 * Copyright (C) 2015 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
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8 * http://www.apache.org/licenses/LICENSE-2.0
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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
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16*/
17#ifndef _GAZEBO_BULLETFIXEDJOINT_HH_
18#define _GAZEBO_BULLETFIXEDJOINT_HH_
19
20#include <string>
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
33
35 class GZ_PHYSICS_VISIBLE BulletFixedJoint : public FixedJoint<BulletJoint>
36 {
40 public: BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent);
41
43 public: virtual ~BulletFixedJoint();
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 void SetAxis(const unsigned int _index,
53 const ignition::math::Vector3d &_axis);
54
55 // Documentation inherited.
56 public: virtual void SetVelocity(unsigned int _index, double _vel);
57
58 // Documentation inherited.
59 public: virtual double GetVelocity(unsigned int _index) const;
60
61 // Documentation inherited.
62 public: virtual void SetUpperLimit(const unsigned int _index,
63 const double _limit);
64
65 // Documentation inherited.
66 public: virtual void SetLowerLimit(const unsigned int _index,
67 const double _limit);
68
69 // Documentation inherited.
70 public: virtual ignition::math::Vector3d GlobalAxis(
71 const unsigned int _index) const;
72
73 // Documentation inherited.
74 public: virtual double PositionImpl(const unsigned int _index) const;
75
76 // Documentation inherited.
77 protected: virtual void SetForceImpl(unsigned int _index, double _effort);
78
80 private: btHingeConstraint *bulletFixed;
81 };
83 }
84}
85#endif
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A fixed joint.
Definition BulletFixedJoint.hh:36
BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
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 ~BulletFixedJoint()
Destructor.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
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 ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A fixed joint rigidly connecting two bodies.
Definition FixedJoint.hh:34
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27