BulletJoint.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: The base Bullet joint class
 * Author: Nate Koenig, Andrew Howard
 * Date: 21 May 2003
 */

#ifndef _BULLETJOINT_HH_
#define _BULLETJOINT_HH_

#include <boost/any.hpp>
#include <string>

#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/physics/Joint.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE BulletJoint : public Joint
    {
      public: explicit BulletJoint(BasePtr _parent);

      public: virtual ~BulletJoint();

      public: virtual void Load(sdf::ElementPtr _sdf) override;

      // Documentation inherited.
      public: virtual void Fini() override;

      public: virtual void Reset() override;

      public: LinkPtr GetJointLink(unsigned int _index) const override;

      public: bool AreConnected(LinkPtr _one, LinkPtr _two) const override;

      public: virtual void Detach() override;

      public: virtual void SetAnchor(const unsigned int _index,
                                     const ignition::math::Vector3d &_anchor)
            override;

      // Documentation inherited
      public: virtual void SetDamping(unsigned int _index, double _damping)
            override;

      // Documentation inherited.
      public: virtual bool SetPosition(
          const unsigned int _index, const double _position,
          const bool _preserveWorldVelocity = false) override;

      // Documentation inherited.
      public: virtual void SetStiffness(unsigned int _index,
                  const double _stiffness) override;

      // Documentation inherited.
      public: virtual void SetStiffnessDamping(unsigned int _index,
        double _stiffness, double _damping, double _reference = 0) override;

      public: virtual ignition::math::Vector3d Anchor(
          const unsigned int _index) const override;

      public: virtual ignition::math::Vector3d LinkForce(
          const unsigned int _index) const override;

      public: virtual ignition::math::Vector3d LinkTorque(
          const unsigned int _index) const override;

      // Documentation inherited.
      public: virtual bool SetParam(const std::string &_key,
                                        unsigned int _index,
                                        const boost::any &_value) override;

      // Documentation inherited.
      public: virtual double GetParam(const std::string &_key,
                                          unsigned int _index) override;

      // Documentation inherited.
      public: virtual void SetProvideFeedback(bool _enable) override;

      // Documentation inherited.
      public: virtual void CacheForceTorque() override;

      // Documentation inherited.
      public: virtual JointWrench GetForceTorque(unsigned int _index) override;

      // Documentation inherited.
      public: virtual void SetForce(unsigned int _index, double _force)
            override;

      // Documentation inherited.
      public: virtual double GetForce(unsigned int _index) override;

      // Documentation inherited.
      public: virtual void Init() override;

      // Documentation inherited.
      public: virtual void ApplyStiffnessDamping() override;

      protected: virtual void SetForceImpl(unsigned int _index,
                     double _force) = 0;

      protected: void SetupJointFeedback();

      private: void SaveForce(unsigned int _index, double _force);

      protected: btTypedConstraint *constraint;

      protected: btDynamicsWorld *bulletWorld;

      private: btJointFeedback *feedback;

      private: bool stiffnessDampingInitialized;

      private: double forceApplied[MAX_JOINT_AXIS];

      private: common::Time forceAppliedTime;
    };
  }
}
#endif