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BulletHinge2Joint.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.
*
*/
/* Desc: A hinge joint with 2 degrees of freedom
* Author: Nate Koenig, Andrew Howard
* Date: 21 May 2003
*/
#ifndef _BULLETHINGE2JOINT_HH_
#define _BULLETHINGE2JOINT_HH_
#include "gazebo/physics/Hinge2Joint.hh"
#include "gazebo/physics/bullet/BulletJoint.hh"
#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/util/system.hh"
class btHinge2Constraint;
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE BulletHinge2Joint : public Hinge2Joint<BulletJoint>
{
public: BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent);
public: virtual ~BulletHinge2Joint();
// Documentation inherited.
protected: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void Init();
// Documentation inherited.
public: virtual ignition::math::Vector3d Anchor(
const unsigned int _index) const;
// Documentation inherited.
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
// Documentation inherited.
public: double GetVelocity(unsigned int _index) const;
// Documentation inherited.
public: virtual void SetVelocity(unsigned int _index, double _angle);
// 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 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 _torque);
private: btHinge2Constraint *bulletHinge2;
private: double angleOffset[2];
private: ignition::math::Vector3d initialWorldAxis[2];
};
}
}
#endif
gazebo::physics::BulletHinge2Joint::SetVelocity
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
gazebo::physics::BulletHinge2Joint::SetUpperLimit
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::BulletHinge2Joint::GetVelocity
double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
gazebo::physics::BulletHinge2Joint::BulletHinge2Joint
BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
gazebo::physics::BulletHinge2Joint::UpperLimit
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
system.hh
gazebo::physics::BulletHinge2Joint::~BulletHinge2Joint
virtual ~BulletHinge2Joint()
Destructor.
gazebo::physics::BulletHinge2Joint::Init
virtual void Init()
Initialize a joint.
gazebo::physics::BulletHinge2Joint::LowerLimit
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
BulletJoint.hh
gazebo::physics::BulletHinge2Joint::Anchor
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
gazebo::physics::BulletHinge2Joint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
gazebo::physics::BulletHinge2Joint::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::BulletHinge2Joint::SetLowerLimit
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
gazebo::physics::Hinge2Joint
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
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::BulletHinge2Joint::SetForceImpl
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
gazebo::physics::BulletHinge2Joint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
gazebo::physics::BulletHinge2Joint::PositionImpl
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
gazebo::physics::BulletHinge2Joint
A two axis hinge joint.
Definition: BulletHinge2Joint.hh:41
gazebo::physics::Base::world
WorldPtr world
Pointer to the world.
Definition: Base.hh:340
Hinge2Joint.hh