A two axis hinge joint. More...

#include <BulletHinge2Joint.hh>

Inheritance diagram for gazebo::physics::BulletHinge2Joint:

Public Member Functions
	BulletHinge2Joint (btDynamicsWorld *world, BasePtr _parent)
	Constructor.

virtual	~BulletHinge2Joint ()
	Destructor.

virtual void	Attach (LinkPtr _one, LinkPtr _two)
	Attach the two bodies with this joint.

virtual math::Vector3	GetAnchor (int _index) const
	Get anchor point.

math::Angle	GetAngle (int _index) const
	Get angle of rotation about first axis.

virtual math::Angle	GetAngleImpl (int _index) const
	Get the angle of rotation.

virtual math::Vector3	GetAxis (int _index) const
	Get first axis of rotation.

virtual math::Vector3	GetGlobalAxis (int _index) const
	Get the axis of rotation.

virtual math::Angle	GetHighStop (int _index)
	Get the high stop of an axis(index).

virtual math::Angle	GetLowStop (int _index)
	Get the low stop of an axis(index).

virtual double	GetMaxForce (int _index)
	Get the max allowed force of an axis(index).

double	GetVelocity (int _index) const
	Get rate of rotation about first axis.

virtual void	SetAnchor (int _index, const math::Vector3 &_anchor)
	Set the anchor point.

virtual void	SetAxis (int _index, const math::Vector3 &_axis)
	Set the first axis of rotation.

virtual void	SetDamping (int _index, double _damping)
	Set joint damping, not yet implemented.

void	SetForce (int _index, double _torque)
	Set the torque.

virtual void	SetHighStop (int _index, const math::Angle &_angle)
	Set the high stop of an axis(index).

virtual void	SetLowStop (int _index, const math::Angle &_angle)
	Set the low stop of an axis(index).

virtual void	SetMaxForce (int _index, double _t)
	Set the max allowed force of an axis(index).

virtual void	SetVelocity (int _index, double _angle)
	Set the velocity of an axis(index).

Public Member Functions inherited from gazebo::physics::Hinge2Joint< BulletJoint >
	Hinge2Joint (BasePtr _parent)
	Constructor.

virtual	~Hinge2Joint ()
	Destructor.

Public Member Functions inherited from gazebo::physics::BulletJoint
	BulletJoint (BasePtr _parent)
	Constructor.

virtual	~BulletJoint ()
	Destructor.

bool	AreConnected (LinkPtr _one, LinkPtr _two) const
	Determines of the two bodies are connected by a joint.

virtual void	Detach ()
	Detach this joint from all bodies.

LinkPtr	GetJointLink (int _index) const
	Get the body to which the joint is attached according the _index.

virtual math::Vector3	GetLinkForce (unsigned int) const
	Get the force the joint applies to the first body.

virtual math::Vector3	GetLinkTorque (unsigned int) const
	Get the torque the joint applies to the first body.

virtual void	Reset ()
	Reset the joint.

virtual void	SetAttribute (Attribute, int, double)
	Set a parameter for the joint.

Public Member Functions inherited from gazebo::physics::Joint
	Joint (BasePtr _parent)
	Constructor.

virtual	~Joint ()
	Destructor.

template<typename T >
event::ConnectionPtr	ConnectJointUpdate (T _subscriber)
	Connect a boost::slot the the joint update signal.

void	DisconnectJointUpdate (event::ConnectionPtr &_conn)
	Disconnect a boost::slot the the joint update signal.

void	FillJointMsg (msgs::Joint &_msg) GAZEBO_DEPRECATED
	DEPRECATED.

void	FillMsg (msgs::Joint &_msg)
	Fill a joint message.

math::Angle	GetAngle (int _index) const
	Get the angle of rotation of an axis(index)

LinkPtr	GetChild () const
	Get the child link.

virtual double	GetForce (int _index)

math::Vector3	GetLocalAxis (int _index) const
	Get the axis of rotation.

LinkPtr	GetParent () const
	Get the parent link.

JointState	GetState ()
	Get the joint state.

virtual void	Init ()
	Initialize a joint.

void	Load (LinkPtr _parent, LinkPtr _child, const math::Pose &_pose)
	Set pose, parent and child links of a physics::Joint.

void	SetAngle (int _index, math::Angle _angle)
	If the Joint is static, Gazebo stores the state of this Joint as a scalar inside the Joint class, so this call will NOT move the joint dynamically for a static Model.

void	SetModel (ModelPtr _model)
	Set the model this joint belongs too.

void	SetState (const JointState &_state)
	Set the joint state.

void	Update ()
	Update the joint.

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values.

Public Member Functions inherited from gazebo::physics::Base
	Base (BasePtr parent)
	Constructor.

virtual	~Base ()
	Destructor.

void	AddChild (BasePtr _child)
	Add a child to this entity.

void	AddType (EntityType _type)
	Add a type specifier.

virtual void	Fini ()
	Finialize the object.

BasePtr	GetById (unsigned int _id) const
	Get a child or self by id.

BasePtr	GetByName (const std::string &_name)
	Get by name.

BasePtr	GetChild (unsigned int _i) const
	Get a child by index.

BasePtr	GetChild (const std::string &_name)
	Get a child by name.

unsigned int	GetChildCount () const
	Get the number of children.

unsigned int	GetId () const
	Return the ID of this entity.

std::string	GetName () const
	Return the name of the entity.

BasePtr	GetParent () const
	Get the parent.

int	GetParentId () const
	Return the ID of the parent.

bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml.

std::string	GetScopedName () const
	Return the name of this entity with the model scope world::model1::...::modelN::entityName.

virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the object.

unsigned int	GetType () const
	Get the full type definition.

const WorldPtr &	GetWorld () const
	Get the World this object is in.

bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type.

bool	IsSelected () const
	True if the entity is selected by the user.

bool	operator== (const Base &_ent) const
	Returns true if the entities are the same.

void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg.

virtual void	RemoveChild (unsigned int _id)
	Remove a child from this entity.

void	RemoveChild (const std::string &_name)
	Remove a child by name.

void	RemoveChildren ()
	Remove all children.

virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's.

virtual void	SetName (const std::string &_name)
	Set the name of the entity.

void	SetParent (BasePtr _parent)
	Set the parent.

void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml.

virtual bool	SetSelected (bool _show)
	Set whether this entity has been selected by the user through the gui.

void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to.

Protected Member Functions
virtual void	Load (sdf::ElementPtr _sdf)
	Load the BulletHinge2Joint.

Additional Inherited Members
Public Types inherited from gazebo::physics::Joint
enum	Attribute { FUDGE_FACTOR, SUSPENSION_ERP, SUSPENSION_CFM, STOP_ERP, STOP_CFM, ERP, CFM, FMAX, VEL, HI_STOP, LO_STOP }
	Joint attribute types. More...

Protected Attributes inherited from gazebo::physics::BulletJoint
btTypedConstraint *	constraint

btDynamicsWorld *	world

Detailed Description

A two axis hinge joint.

Constructor & Destructor Documentation

gazebo::physics::BulletHinge2Joint::BulletHinge2Joint	(	btDynamicsWorld *	world,
		BasePtr	_parent
	)

Constructor.

virtual gazebo::physics::BulletHinge2Joint::~BulletHinge2Joint ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::BulletHinge2Joint::Attach	(	LinkPtr	_one,
		LinkPtr	_two
	)

virtual

Attach the two bodies with this joint.

Reimplemented from gazebo::physics::Joint.

virtual math::Vector3 gazebo::physics::BulletHinge2Joint::GetAnchor ( int _index ) const

virtual

Get anchor point.

Reimplemented from gazebo::physics::BulletJoint.

math::Angle gazebo::physics::BulletHinge2Joint::GetAngle ( int _index ) const

Get angle of rotation about first axis.

virtual math::Angle gazebo::physics::BulletHinge2Joint::GetAngleImpl ( int _index ) const

virtual

Get the angle of rotation.

Implements gazebo::physics::Joint.

virtual math::Vector3 gazebo::physics::BulletHinge2Joint::GetAxis ( int _index ) const

virtual

Get first axis of rotation.

virtual math::Vector3 gazebo::physics::BulletHinge2Joint::GetGlobalAxis ( int _index ) const

virtual

Get the axis of rotation.

Implements gazebo::physics::Joint.

virtual math::Angle gazebo::physics::BulletHinge2Joint::GetHighStop ( int _index )

virtual

Get the high stop of an axis(index).

Implements gazebo::physics::Joint.

virtual math::Angle gazebo::physics::BulletHinge2Joint::GetLowStop ( int _index )

virtual

Get the low stop of an axis(index).

Implements gazebo::physics::Joint.

virtual double gazebo::physics::BulletHinge2Joint::GetMaxForce ( int _index )

virtual

Get the max allowed force of an axis(index).

Implements gazebo::physics::Joint.

double gazebo::physics::BulletHinge2Joint::GetVelocity ( int _index ) const

virtual

Get rate of rotation about first axis.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::BulletHinge2Joint::Load ( sdf::ElementPtr _sdf )

protectedvirtual

Load the BulletHinge2Joint.

Reimplemented from gazebo::physics::Hinge2Joint< BulletJoint >.

virtual void gazebo::physics::BulletHinge2Joint::SetAnchor	(	int	_index,
		const math::Vector3 &	_anchor
	)

virtual

Set the anchor point.

Reimplemented from gazebo::physics::BulletJoint.

virtual void gazebo::physics::BulletHinge2Joint::SetAxis	(	int	_index,
		const math::Vector3 &	_axis
	)

virtual

Set the first axis of rotation.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::BulletHinge2Joint::SetDamping	(	int	_index,
		double	_damping
	)

virtual

Set joint damping, not yet implemented.

Reimplemented from gazebo::physics::BulletJoint.

void gazebo::physics::BulletHinge2Joint::SetForce	(	int	_index,
		double	_torque
	)

virtual

Set the torque.

Reimplemented from gazebo::physics::Joint.

virtual void gazebo::physics::BulletHinge2Joint::SetHighStop	(	int	_index,
		const math::Angle &	_angle
	)

virtual

Set the high stop of an axis(index).

Implements gazebo::physics::Joint.

virtual void gazebo::physics::BulletHinge2Joint::SetLowStop	(	int	_index,
		const math::Angle &	_angle
	)

virtual

Set the low stop of an axis(index).

Implements gazebo::physics::Joint.

virtual void gazebo::physics::BulletHinge2Joint::SetMaxForce	(	int	_index,
		double	_t
	)

virtual

Set the max allowed force of an axis(index).

Implements gazebo::physics::Joint.

virtual void gazebo::physics::BulletHinge2Joint::SetVelocity	(	int	_index,
		double	_angle
	)

virtual

Set the velocity of an axis(index).

Implements gazebo::physics::Joint.

The documentation for this class was generated from the following file:

BulletHinge2Joint.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation