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 
30 class btHinge2Constraint;
31 
32 namespace 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
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
Forward declarations for the common classes.
Definition: Animation.hh:26
double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ~BulletHinge2Joint()
Destructor.
virtual void Init()
Initialize a joint.
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
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 SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
A two axis hinge joint.
Definition: BulletHinge2Joint.hh:41
WorldPtr world
Pointer to the world.
Definition: Base.hh:340