SimbodyJoint.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_JOINT_HH_
19 #define _SIMBODY_JOINT_HH_
20 
21 #include <boost/any.hpp>
22 #include <string>
23 
25 #include "gazebo/physics/Joint.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GZ_PHYSICS_VISIBLE SimbodyJoint : public Joint
38  {
40  public: explicit SimbodyJoint(BasePtr _parent);
41 
43  public: virtual ~SimbodyJoint();
44 
45  // Documentation inherited.
46  public: virtual void Load(sdf::ElementPtr _sdf) override;
47 
48  // Documentation inherited.
49  public: virtual void Reset() override;
50 
51  // Documentation inherited.
52  public: virtual LinkPtr GetJointLink(unsigned int _index) const override;
53 
54  // Documentation inherited.
55  public: virtual bool AreConnected(LinkPtr _one, LinkPtr _two) const
56  override;
57 
58  // Documentation inherited.
59  public: virtual void Detach() override;
60 
61  // Documentation inherited.
62  public: virtual void SetAnchor(const unsigned int _index,
63  const ignition::math::Vector3d &_anchor) override;
64 
65  // Documentation inherited.
66  public: virtual void SetDamping(unsigned int _index,
67  const double _damping) override;
68 
69  // Documentation inherited.
70  public: virtual void SetStiffness(unsigned int _index,
71  const double _stiffness) override;
72 
73  // Documentation inherited.
74  public: virtual void SetStiffnessDamping(unsigned int _index,
75  double _stiffness, double _damping, double _reference = 0) override;
76 
77  // Documentation inherited.
78  public: virtual ignition::math::Vector3d Anchor(
79  const unsigned int _index) const override;
80 
81  // Documentation inherited.
82  public: virtual bool SetPosition(
83  const unsigned int _index,
84  const double _position,
85  const bool _preserveWorldVelocity = false)
86  override;
87 
88  // Documentation inherited.
89  public: virtual ignition::math::Vector3d LinkForce(
90  const unsigned int _index) const override;
91 
92  // Documentation inherited.
93  public: virtual ignition::math::Vector3d LinkTorque(
94  const unsigned int _index) const override;
95 
96  // Documentation inherited.
97  public: virtual bool SetParam(const std::string &_key,
98  unsigned int _index,
99  const boost::any &_value)
100  override;
101 
102  // Documentation inherited.
103  public: virtual double GetParam(const std::string &_key,
104  unsigned int _index) override;
105 
106  // Save current Simbody State
107  public: virtual void SaveSimbodyState(const SimTK::State &_state);
108 
109  // Restore saved Simbody State
110  public: virtual void RestoreSimbodyState(SimTK::State &_state);
111 
112  // Documentation inherited.
113  public: virtual void SetForce(unsigned int _index, double _force)
114  override;
115 
116  // Documentation inherited.
117  public: virtual double GetForce(unsigned int _index) override;
118 
119  // Documentation inherited.
120  public: virtual void SetAxis(const unsigned int _index,
121  const ignition::math::Vector3d &_axis)
122  override;
123 
124  // Documentation inherited.
125  public: virtual JointWrench GetForceTorque(unsigned int _index) override;
126 
137  protected: virtual void SetForceImpl(unsigned int _index,
138  double _force) = 0;
139 
143  private: void SaveForce(unsigned int _index, double _force);
144 
145  // Documentation inherited.
146  public: virtual void CacheForceTorque() override;
147 
151  public: bool mustBreakLoopHere;
152 
155  public: SimTK::Transform xPA;
156 
158  public: SimTK::Transform xCB;
159 
161  public: SimTK::Transform defxAB;
162 
168  public: SimTK::Force::MobilityLinearSpring spring[MAX_JOINT_AXIS];
169 
174  public: SimTK::Force::MobilityLinearDamper damper[MAX_JOINT_AXIS];
175 
181  public: SimTK::Force::MobilityLinearStop limitForce[MAX_JOINT_AXIS];
182 
188  public: SimTK::MobilizedBody mobod;
189 
192  public: bool isReversed;
193 
199  public: SimTK::Constraint constraint;
200 
201  // Keeps track if simbody physics has been initialized
202  public: bool physicsInitialized;
203 
204  // Documentation inherited.
205  public: virtual void SetUpperLimit(const unsigned int _index,
206  const double _limit) override;
207 
208  // Documentation inherited.
209  public: virtual void SetLowerLimit(const unsigned int _index,
210  const double _limit) override;
211 
212  // Documentation inherited.
213  public: virtual double UpperLimit(const unsigned int _index) const
214  override;
215 
216  // Documentation inherited.
217  public: virtual double LowerLimit(const unsigned int _index) const
218  override;
219 
221  protected: SimTK::MultibodySystem *world;
222 
225 
234  private: double forceApplied[MAX_JOINT_AXIS];
235 
238  private: common::Time forceAppliedTime;
239  };
241  }
242 }
243 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
Forward declarations for the common classes.
Definition: Animation.hh:26
SimTK::Constraint constraint
: isValid() if we used a constraint to model this joint.
Definition: SimbodyJoint.hh:199
bool isReversed
: if mobilizer, did it reverse parent&child? Set when we build the Simbody model. ...
Definition: SimbodyJoint.hh:192
SimTK::Transform xCB
child body frame to mobilizer frame
Definition: SimbodyJoint.hh:158
SimTK::Transform xPA
Normally A=F, B=M.
Definition: SimbodyJoint.hh:155
SimbodyPhysicsPtr simbodyPhysics
keep a pointer to the simbody physics engine for convenience
Definition: SimbodyJoint.hh:224
Base class for all joints.
Definition: SimbodyJoint.hh:37
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
#define MAX_JOINT_AXIS
maximum number of axis per joint anticipated.
Definition: Joint.hh:39
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:221
SimTK::Transform defxAB
default mobilizer pose
Definition: SimbodyJoint.hh:161
Base class for all joints.
Definition: Joint.hh:50
Wrench information from a joint.
Definition: JointWrench.hh:40
SimTK::MobilizedBody mobod
Use isValid() if we used a mobilizer Set when we build the Simbody model.
Definition: SimbodyJoint.hh:188
bool physicsInitialized
Definition: SimbodyJoint.hh:202
bool mustBreakLoopHere
Force Simbody to break a loop by using a weld constraint.
Definition: SimbodyJoint.hh:151
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:47