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BulletSliderJoint.hh
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/*
* Copyright (C) 2012 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_BULLETSLIDERJOINT_HH_
#define _GAZEBO_BULLETSLIDERJOINT_HH_
#include <string>
#include "gazebo/physics/bullet/BulletJoint.hh"
#include "gazebo/physics/SliderJoint.hh"
#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/util/system.hh"
class btSliderConstraint;
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE BulletSliderJoint : public SliderJoint<BulletJoint>
{
public: BulletSliderJoint(btDynamicsWorld *world, BasePtr _parent);
public: virtual ~BulletSliderJoint();
protected: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
protected: virtual void Init();
// Documentation inherited.
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
// Documentation inherited.
public: virtual void SetDamping(unsigned int _index,
const double _damping);
// 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 double UpperLimit(const unsigned int _index) const;
// Documentation inherited.
public: virtual double LowerLimit(const unsigned int _index) const;
// Documentation inherited.
public: virtual double GetVelocity(unsigned int _index) const;
// Documentation inherited.
public: virtual void SetVelocity(unsigned int _index, double _angle);
// 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.
public: virtual bool SetParam(const std::string &_key,
unsigned int _index,
const boost::any &_value);
// Documentation inherited.
public: virtual double GetParam(const std::string &_key,
unsigned int _index);
// Documentation inherited.
protected: virtual void SetForceImpl(unsigned int _index, double _effort);
private: btSliderConstraint *bulletSlider;
private: ignition::math::Vector3d initialWorldAxis;
};
}
}
#endif
gazebo::physics::BulletSliderJoint::GetParam
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the joint.
gazebo::physics::BulletSliderJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
gazebo::physics::BulletSliderJoint::GetVelocity
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
gazebo::physics::BulletSliderJoint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::BulletSliderJoint::BulletSliderJoint
BulletSliderJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
gazebo::physics::BulletSliderJoint::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::BulletSliderJoint::Init
virtual void Init()
Initialize a joint.
system.hh
gazebo::physics::SliderJoint
A slider joint.
Definition: SliderJoint.hh:38
gazebo::physics::BulletSliderJoint::SetLowerLimit
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
SliderJoint.hh
BulletJoint.hh
gazebo::physics::BulletSliderJoint::SetUpperLimit
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
gazebo::physics::BulletSliderJoint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the BulletSliderJoint.
gazebo::physics::BulletSliderJoint::~BulletSliderJoint
virtual ~BulletSliderJoint()
Destructor.
gazebo::physics::BulletSliderJoint::SetParam
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
BulletPhysics.hh
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::BulletSliderJoint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
gazebo::physics::BulletSliderJoint::SetDamping
virtual void SetDamping(unsigned int _index, const double _damping)
Set the joint damping.
gazebo::physics::BulletSliderJoint
A slider joint.
Definition: BulletSliderJoint.hh:37
gazebo::physics::BulletSliderJoint::UpperLimit
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
gazebo::physics::BulletSliderJoint::LowerLimit
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
gazebo::physics::BulletSliderJoint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
gazebo::physics::Base::world
WorldPtr world
Pointer to the world.
Definition: Base.hh:340