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BulletFixedJoint.hh
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/*
* Copyright (C) 2015 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_BULLETFIXEDJOINT_HH_
#define _GAZEBO_BULLETFIXEDJOINT_HH_
#include <string>
#include "gazebo/physics/FixedJoint.hh"
#include "gazebo/physics/bullet/BulletJoint.hh"
#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE BulletFixedJoint : public FixedJoint<BulletJoint>
{
public: BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent);
public: virtual ~BulletFixedJoint();
// Documentation inherited.
protected: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void Init();
// Documentation inherited.
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
// Documentation inherited.
public: virtual void SetVelocity(unsigned int _index, double _vel);
// Documentation inherited.
public: virtual double GetVelocity(unsigned int _index) const;
// Documentation inherited.
public: virtual void SetUpperLimit(const unsigned int _index,
const double _limit);
// Documentation inherited.
public: virtual void SetLowerLimit(const unsigned int _index,
const double _limit);
// Documentation inherited.
public: virtual ignition::math::Vector3d GlobalAxis(
const unsigned int _index) const;
// Documentation inherited.
public: virtual double PositionImpl(const unsigned int _index) const;
// Documentation inherited.
protected: virtual void SetForceImpl(unsigned int _index, double _effort);
private: btHingeConstraint *bulletFixed;
};
}
}
#endif
gazebo::physics::BulletFixedJoint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::BulletFixedJoint::Init
virtual void Init()
Initialize joint.
gazebo::physics::BulletFixedJoint::SetAxis
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.
gazebo::physics::BulletFixedJoint::GetVelocity
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
system.hh
gazebo::physics::BulletFixedJoint::~BulletFixedJoint
virtual ~BulletFixedJoint()
Destructor.
gazebo::physics::BulletFixedJoint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
gazebo::physics::BulletFixedJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
BulletJoint.hh
gazebo::physics::FixedJoint
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
FixedJoint.hh
gazebo::physics::BulletFixedJoint
A fixed joint.
Definition: BulletFixedJoint.hh:35
gazebo::physics::BulletFixedJoint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
BulletPhysics.hh
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::BulletFixedJoint::SetUpperLimit
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
gazebo::physics::BulletFixedJoint::SetLowerLimit
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
gazebo::physics::Base::world
WorldPtr world
Pointer to the world.
Definition: Base.hh:340
gazebo::physics::BulletFixedJoint::BulletFixedJoint
BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
gazebo::physics::BulletFixedJoint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _vel)
Set the velocity of an axis(index).