A screw joint. More...

#include <SimbodyScrewJoint.hh>

Inheritance diagram for gazebo::physics::SimbodyScrewJoint:

Public Member Functions
	SimbodyScrewJoint (SimTK::MultibodySystem *_world, BasePtr _parent)
	Constructor. More...

virtual	~SimbodyScrewJoint ()
	Destructor. More...

virtual math::Angle	GetAngleImpl (int _index) const
	Get the angle of an axis helper function. More...

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

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

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

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

virtual double	GetThreadPitch (unsigned int)
	Get screw joint thread pitch. More...

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

virtual void	Init ()
	Initialize a joint. More...

virtual void	SetAxis (int _index, const math::Vector3 &_axis)
	Set the axis of rotation where axis is specified in local joint frame. More...

virtual void	SetDamping (int _index, double _damping)
	Set the joint damping. More...

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

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

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

virtual void	SetThreadPitch (int _index, double _threadPitch)
	Set screw joint thread pitch. More...

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

Public Member Functions inherited from gazebo::physics::ScrewJoint< SimbodyJoint >
	ScrewJoint (BasePtr _parent)
	Constructor. More...

virtual	~ScrewJoint ()
	Destructor. More...

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

virtual unsigned int	GetAngleCount () const
	More...

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

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

virtual	~SimbodyJoint ()
	Destructor. More...

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

virtual void	CacheForceTorque ()
	Cache Joint Force Torque Values if necessary for physics engine. More...

virtual void	Detach ()
	Detach this joint from all links. More...

virtual double	GetAttribute (const std::string &_key, unsigned int _index)
	Get a non-generic parameter for the joint. More...

virtual double	GetForce (unsigned int _index)

virtual JointWrench	GetForceTorque (unsigned int _index)
	get internal force and torque values at a joint. More...

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

virtual math::Vector3	GetLinkForce (unsigned int _index) const
	Get the forces applied to the center of mass of a physics::Link due to the existence of this Joint. More...

virtual math::Vector3	GetLinkTorque (unsigned int _index) const
	Get the torque applied to the center of mass of a physics::Link due to the existence of this Joint. More...

virtual void	Reset ()
	Reset the joint. More...

virtual void	RestoreSimbodyState (SimTK::State &_state)

virtual void	SaveSimbodyState (const SimTK::State &_state)

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

virtual void	SetAttribute (const std::string &_key, int _index, const boost::any &_value)
	Set a non-generic parameter for the joint. More...

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

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

virtual	~Joint ()
	Destructor. More...

virtual void	ApplyDamping ()
	Callback to apply damping force to joint. More...

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

double	CheckAndTruncateForce (int _index, double _effort)
	check if the force against velocityLimit and effortLimit, truncate if necessary. More...

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

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

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

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

LinkPtr	GetChild () const
	Get the child link. More...

double	GetDamping (int _index)
	Returns the current joint damping coefficient. More...

double	GetDampingCoefficient () const
	Get damping coefficient of this joint. More...

virtual double	GetEffortLimit (int _index)
	Get the effort limit on axis(index). More...

double	GetInertiaRatio (unsigned int _index) const
	Accessor to inertia ratio across this joint. More...

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

math::Angle	GetLowerLimit (unsigned int _index) const
	: get the joint upper limit (replaces GetLowStop and GetHighStop) More...

LinkPtr	GetParent () const
	Get the parent link. More...

math::Angle	GetUpperLimit (unsigned int _index) const
	: get the joint lower limit (replacee GetLowStop and GetHighStop) More...

virtual double	GetVelocityLimit (int _index)
	Get the velocity limit on axis(index). More...

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

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. More...

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

virtual void	SetProvideFeedback (bool _enable)
	Set whether the joint should generate feedback. More...

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

void	Update ()
	Update the joint. More...

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

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

virtual	~Base ()
	Destructor. More...

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

void	AddType (EntityType _type)
	Add a type specifier. More...

virtual void	Fini ()
	Finialize the object. More...

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

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

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

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

uint32_t	GetId () const
	Return the ID of this entity. More...

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

BasePtr	GetParent () const
	Get the parent. More...

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

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

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

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

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

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

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

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

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

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

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

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

void	RemoveChildren ()
	Remove all children. More...

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

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

void	SetParent (BasePtr _parent)
	Set the parent. More...

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

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

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

Protected Member Functions
virtual void	Load (sdf::ElementPtr _sdf)
	Load a ScrewJoint. More...

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

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...

Public Attributes inherited from gazebo::physics::SimbodyJoint
SimTK::Constraint	constraint
	: isValid() if we used a constraint to model this joint. More...

SimTK::Force::MobilityLinearDamper	damper
	: for enforcing joint damping forces. More...

SimTK::Transform	defxAB
	default mobilizer pose More...

bool	isReversed
	: if mobilizer, did it reverse parent&child? Set when we build the Simbody model. More...

SimTK::Force::MobilityLinearStop	limitForce
	: for enforcing joint stops Set when we build the Simbody model. More...

SimTK::MobilizedBody	mobod
	Use isValid() if we used a mobilizer Set when we build the Simbody model. More...

bool	mustBreakLoopHere
	Force Simbody to break a loop by using a weld constraint. More...

bool	physicsInitialized

SimTK::Transform	xCB
	child body frame to mobilizer frame More...

SimTK::Transform	xPA
	Normally A=F, B=M. More...

Protected Attributes inherited from gazebo::physics::ScrewJoint< SimbodyJoint >
math::Vector3	fakeAnchor
	The anchor value is not used internally. More...

double	threadPitch
	Pitch of the thread. More...

Detailed Description

A screw joint.

Constructor & Destructor Documentation

gazebo::physics::SimbodyScrewJoint::SimbodyScrewJoint	(	SimTK::MultibodySystem *	_world,
		BasePtr	_parent
	)

Constructor.

Parameters

[in]	_world	Pointer to the Simbody world.
[in]	_parent	Parent of the screw joint.

virtual gazebo::physics::SimbodyScrewJoint::~SimbodyScrewJoint ( )

virtual

Destructor.

Member Function Documentation

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

virtual

Get the angle of an axis helper function.

Parameters

[in] _index Index of the axis.

Returns: Angle of the axis.

Implements gazebo::physics::Joint.

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

virtual

Get the axis of rotation in global cooridnate frame.

Parameters

[in] _index Index of the axis to get.

Returns: Axis value for the provided index.

Implements gazebo::physics::Joint.

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

virtual

Get the high stop of an axis(index).

This function is replaced by GetUpperLimit(unsigned int). If you are interested in getting the value of dParamHiStop*, use GetAttribute(hi_stop, _index)

Parameters

[in] _index Index of the axis.

Returns: Angle of the high stop value.

Implements gazebo::physics::Joint.

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

virtual

Get the low stop of an axis(index).

This function is replaced by GetLowerLimit(unsigned int). If you are interested in getting the value of dParamHiStop*, use GetAttribute(hi_stop, _index)

Parameters

[in] _index Index of the axis.

Returns: Angle of the low stop value.

Implements gazebo::physics::Joint.

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

virtual

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

Note that the unit of force should be consistent with the rest of the simulation scales.

Parameters

[in] _index Index of the axis.

Returns: The maximum force.

Implements gazebo::physics::Joint.

virtual double gazebo::physics::SimbodyScrewJoint::GetThreadPitch ( unsigned int _index )

virtual

Get screw joint thread pitch.

This must be implemented in a child class

Parameters

[in] _index Index of the axis.

Returns: _threadPitch Thread pitch value.

Implements gazebo::physics::ScrewJoint< SimbodyJoint >.

virtual double gazebo::physics::SimbodyScrewJoint::GetVelocity ( int _index ) const

virtual

Get the rotation rate of an axis(index)

Parameters

[in] _index Index of the axis.

Returns: The rotaional velocity of the joint axis.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::SimbodyScrewJoint::Init ( )

virtual

Initialize a joint.

Reimplemented from gazebo::physics::Joint.

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

protectedvirtual

Load a ScrewJoint.

Parameters

[in] _sdf SDF value to load from

Reimplemented from gazebo::physics::ScrewJoint< SimbodyJoint >.

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

virtual

Set the axis of rotation where axis is specified in local joint frame.

Parameters

[in]	_index	Index of the axis to set.
[in]	_axis	Vector in local joint frame of axis direction (must have length greater than zero).

Reimplemented from gazebo::physics::SimbodyJoint.

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

virtual

Set the joint damping.

Parameters

[in]	_index	Index of the axis to set, currently ignored, to be implemented.
[in]	_damping	Damping value for the axis.

Reimplemented from gazebo::physics::SimbodyJoint.

virtual void gazebo::physics::SimbodyScrewJoint::SetForceImpl	(	int	_index,
		double	_force
	)

protectedvirtual

Set the force applied to this physics::Joint.

Note that the unit of force should be consistent with the rest of the simulation scales. Force is additive (multiple calls to SetForceImpl to the same joint in the same time step will accumulate forces on that Joint).

Parameters

[in]	_index	Index of the axis.
[in]	_force	Force value. internal force, e.g. damping forces. This way, Joint::appliedForce keep track of external forces only.

Implements gazebo::physics::SimbodyJoint.

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

virtual

Set the high stop of an axis(index).

Parameters

[in]	_index	Index of the axis.
[in]	_angle	High stop angle.

Reimplemented from gazebo::physics::Joint.

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

virtual

Set the low stop of an axis(index).

Parameters

[in]	_index	Index of the axis.
[in]	_angle	Low stop angle.

Reimplemented from gazebo::physics::Joint.

virtual void gazebo::physics::SimbodyScrewJoint::SetMaxForce	(	int	_index,
		double	_force
	)

virtual

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

Note that the unit of force should be consistent with the rest of the simulation scales.

Parameters

[in]	_index	Index of the axis.
[in]	_force	Maximum force that can be applied to the axis.

Implements gazebo::physics::Joint.

virtual void gazebo::physics::SimbodyScrewJoint::SetThreadPitch	(	int	_index,
		double	_threadPitch
	)

virtual

Set screw joint thread pitch.

This must be implemented in a child class

Parameters

[in]	_index	Index of the axis.
[in]	_threadPitch	Thread pitch value.

Implements gazebo::physics::ScrewJoint< SimbodyJoint >.

virtual void gazebo::physics::SimbodyScrewJoint::SetVelocity	(	int	_index,
		double	_vel
	)

virtual

Set the velocity of an axis(index).

Parameters

[in]	_index	Index of the axis.
[in]	_vel	Velocity.

Implements gazebo::physics::Joint.

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

SimbodyScrewJoint.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation