Base class for all joints. More...

#include <BulletJoint.hh>

Inheritance diagram for gazebo::physics::BulletJoint:

Public Member Functions
	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.

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

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.

void	Load (sdf::ElementPtr _sdf)
	Load a BulletJoint.

virtual void	Reset ()
	Reset the joint.

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

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

virtual void	SetDamping (int, const double)
	Set the joint damping.

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

virtual	~Joint ()
	Destructor.

virtual void	Attach (LinkPtr _parent, LinkPtr _child)
	Attach the two bodies with this joint.

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)

virtual math::Vector3	GetGlobalAxis (int _index) const =0
	Get the axis of rotation in global cooridnate frame.

virtual math::Angle	GetHighStop (int _index)=0
	Get the high stop of an axis(index).

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

virtual math::Angle	GetLowStop (int _index)=0
	Get the low stop of an axis(index).

virtual double	GetMaxForce (int _index)=0
	Get the max allowed force of an axis(index).

LinkPtr	GetParent () const
	Get the parent link.

JointState	GetState ()
	Get the joint state.

virtual double	GetVelocity (int _index) const =0
	Get the rotation rate of an axis(index)

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.

virtual void	SetAxis (int _index, const math::Vector3 &_axis)=0
	Set the axis of rotation.

virtual void	SetForce (int _index, double _force)
	Set the force applied to this physics::Joint.

virtual void	SetHighStop (int _index, const math::Angle &_angle)=0
	Set the high stop of an axis(index).

virtual void	SetLowStop (int _index, const math::Angle &_angle)=0
	Set the low stop of an axis(index).

virtual void	SetMaxForce (int _index, double _force)=0
	Set the max allowed force of an axis(index).

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

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

virtual void	SetVelocity (int _index, double _vel)=0
	Set the velocity of an axis(index).

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 Attributes
btTypedConstraint *	constraint

btDynamicsWorld *	world

Protected Attributes inherited from gazebo::physics::Joint
LinkPtr	anchorLink
	Anchor link.

math::Vector3	anchorPos
	Anchor pose.

LinkPtr	childLink
	The first link this joint connects to.

double	damping_coefficient
	joint damping_coefficient

ModelPtr	model
	Pointer to the parent model.

LinkPtr	parentLink
	The second link this joint connects to.

Protected Attributes inherited from gazebo::physics::Base
Base_V	children
	Children of this entity.

Base_V::iterator	childrenEnd
	End of the children vector.

BasePtr	parent
	Parent of this entity.

sdf::ElementPtr	sdf
	The SDF values for this object.

WorldPtr	world
	Pointer to the world.

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 Member Functions inherited from gazebo::physics::Joint
virtual math::Angle	GetAngleImpl (int _index) const =0
	Get the angle of an axis helper function.