A universal joint. More...

#include <ODEUniversalJoint.hh>

Inheritance diagram for gazebo::physics::ODEUniversalJoint:

Public Member Functions
	ODEUniversalJoint (dWorldID worldId, BasePtr _parent)
	Constructor.

virtual	~ODEUniversalJoint ()
	Destuctor.

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

virtual math::Angle	GetAngleImpl (int index) const
	Get the angle of axis.

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

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

virtual double	GetVelocity (int index) const
	Get the angular rate of an 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.

virtual void	SetForce (int index, double torque)
	Set the torque of a joint.

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

virtual void	SetParam (int parameter, double value)
	Set the parameter to value.

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

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

virtual	~UniversalJoint ()
	Destuctor.

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

virtual	~ODEJoint ()
	Destructor.

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

virtual void	Attach (LinkPtr parent, LinkPtr child)
	Attach the two bodies with this joint.

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

double	GetCFM ()
	Get the ERP of this joint.

double	GetERP ()
	Get the ERP of this joint.

dJointFeedback *	GetFeedback ()
	Get the feedback data structure for this joint, if set.

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

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

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

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

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

virtual double	GetParam (int _parameter) const
	The default function does nothing.

virtual void	Reset ()
	Reset the joint.

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

void	SetCFM (double newCFM)
	Set the CFM of this joint.

void	SetERP (double newERP)
	Set the ERP of this joint.

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).

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.

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::UniversalJoint< ODEJoint >
virtual void	Load (sdf::ElementPtr _sdf)
	Load a UniversalJoint.

Protected Attributes inherited from gazebo::physics::ODEJoint
dJointID	jointId
	This is our id.

Detailed Description

A universal joint.

Constructor & Destructor Documentation

gazebo::physics::ODEUniversalJoint::ODEUniversalJoint	(	dWorldID	worldId,
		BasePtr	_parent
	)

Constructor.

virtual gazebo::physics::ODEUniversalJoint::~ODEUniversalJoint ( )

virtual

Destuctor.

Member Function Documentation

virtual math::Vector3 gazebo::physics::ODEUniversalJoint::GetAnchor ( int index ) const

virtual

Get the anchor point.

Implements gazebo::physics::Joint.

virtual math::Angle gazebo::physics::ODEUniversalJoint::GetAngleImpl ( int index ) const

virtual

Get the angle of axis.

Implements gazebo::physics::Joint.

virtual math::Vector3 gazebo::physics::ODEUniversalJoint::GetGlobalAxis ( int index ) const

virtual

Get the first axis of rotation.

Implements gazebo::physics::Joint.

virtual double gazebo::physics::ODEUniversalJoint::GetMaxForce ( int index )

virtual

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

Implements gazebo::physics::Joint.

virtual double gazebo::physics::ODEUniversalJoint::GetVelocity ( int index ) const

virtual

Get the angular rate of an axis.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::ODEUniversalJoint::SetAnchor	(	int	index,
		const math::Vector3 &	anchor
	)

virtual

Set the anchor point.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::ODEUniversalJoint::SetAxis	(	int	index,
		const math::Vector3 &	axis
	)

virtual

Set the first axis of rotation.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::ODEUniversalJoint::SetDamping	(	int	index,
		double	damping
	)

virtual

Set joint damping, not yet implemented.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::ODEUniversalJoint::SetForce	(	int	index,
		double	torque
	)

virtual

Set the torque of a joint.

Reimplemented from gazebo::physics::Joint.

virtual void gazebo::physics::ODEUniversalJoint::SetMaxForce	(	int	index,
		double	t
	)

virtual

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

Implements gazebo::physics::Joint.

virtual void gazebo::physics::ODEUniversalJoint::SetParam	(	int	parameter,
		double	value
	)

virtual

Set the parameter to value.

Reimplemented from gazebo::physics::ODEJoint.

virtual void gazebo::physics::ODEUniversalJoint::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:

ODEUniversalJoint.hh

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation