Base class for all joints. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Joint:

Public Types
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 Types inherited from gazebo::physics::Base
enum	EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000, BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000, MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000, MESH_SHAPE = 0x00400000, SENSOR_COLLISION = 0x00800000 }
	Unique identifiers for all entity types. More...

Public Member Functions
	Joint (BasePtr _parent)
	Constructor. More...

virtual	~Joint ()
	Destructor. More...

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

virtual bool	AreConnected (LinkPtr _one, LinkPtr _two) const =0
	Determines of the two bodies are connected by a joint. More...

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

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

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

virtual math::Vector3	GetAnchor (int _index) const =0
	Get the anchor point. More...

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

virtual unsigned int	GetAngleCount () const =0
	Get the angle count. More...

virtual double	GetAttribute (const std::string &_key, unsigned int _index)=0
	Get a non-generic parameter for the joint. 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...

virtual double	GetForce (unsigned int _index)

virtual JointWrench	GetForceTorque (unsigned int _index)=0
	get internal force and torque values at a joint. More...

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

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

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

math::Pose	GetInitialAnchorPose ()
	Get initial Anchor Pose specified by model <joint><pose>...</pose></joint> More...

virtual LinkPtr	GetJointLink (int _index) const =0
	Get the link to which the joint is attached according the _index. More...

virtual math::Vector3	GetLinkForce (unsigned int _index) const =0
	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 =0
	Get the torque applied to the center of mass of a physics::Link due to the existence of 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...

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

virtual double	GetMaxForce (int _index)=0
	Get the max allowed force of an axis(index). 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	GetVelocity (int _index) const =0
	Get the rotation rate of an axis(index) More...

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

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

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

virtual void	Load (sdf::ElementPtr _sdf)
	Load physics::Joint from a SDF sdf::Element. More...

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

virtual void	SetAnchor (int _index, const math::Vector3 &_anchor)=0
	Set the anchor point. 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...

virtual void	SetAttribute (const std::string &_key, int _index, const boost::any &_value)=0
	Set a non-generic parameter for the joint. More...

virtual void	SetAxis (int _index, const math::Vector3 &_axis)=0
	Set the axis of rotation where axis is specified in local joint frame. More...

virtual void	SetDamping (int _index, double _damping)=0
	Set the joint damping. More...

virtual void	SetEffortLimit (unsigned int _index, double _effort)
	Set the effort limit on a joint axis. More...

virtual void	SetForce (int _index, double _effort)=0
	Set the force applied to this physics::Joint. 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 _force)=0
	Set the max allowed force of an axis(index). 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...

virtual void	SetVelocity (int _index, double _vel)=0
	Set the velocity of an axis(index). 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 math::Angle	GetAngleImpl (int _index) const =0
	Get the angle of an axis helper function. More...

Protected Member Functions inherited from gazebo::physics::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

Protected Attributes
LinkPtr	anchorLink
	Anchor link. More...

math::Vector3	anchorPos
	Anchor pose. More...

math::Pose	anchorPose
	Anchor pose specified in SDF <joint><pose> tag. More...

gazebo::event::ConnectionPtr	applyDamping
	apply damping for adding viscous damping forces on updates More...

LinkPtr	childLink
	The first link this joint connects to. More...

double	dampingCoefficient
	joint dampingCoefficient More...

double	effortLimit [2]
	Store Joint effort limit as specified in SDF. More...

double	inertiaRatio [2]
	Store Joint inertia ratio. More...

math::Angle	lowerLimit [2]
	Store Joint position lower limit as specified in SDF. More...

ModelPtr	model
	Pointer to the parent model. More...

LinkPtr	parentLink
	The second link this joint connects to. More...

bool	provideFeedback
	Provide Feedback data for contact forces. More...

math::Angle	upperLimit [2]
	Store Joint position upper limit as specified in SDF. More...

bool	useCFMDamping
	option to use CFM damping More...

double	velocityLimit [2]
	Store Joint velocity limit as specified in SDF. More...

JointWrench	wrench
	Cache Joint force torque values in case physics engine clears them at the end of update step. More...

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

Base_V::iterator	childrenEnd
	End of the children vector. More...

BasePtr	parent
	Parent of this entity. More...

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

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for all joints.

Member Enumeration Documentation

enum gazebo::physics::Joint::Attribute

Joint attribute types.

Enumerator
FUDGE_FACTOR	Fudge factor.
SUSPENSION_ERP	Suspension error reduction parameter.
SUSPENSION_CFM	Suspension constraint force mixing.
STOP_ERP	Stop limit error reduction parameter.
STOP_CFM	Stop limit constraint force mixing.
ERP	Error reduction parameter.
CFM	Constraint force mixing.
FMAX	Maximum force.
VEL	Velocity.
HI_STOP	High stop angle.
LO_STOP	Low stop angle.

Constructor & Destructor Documentation

gazebo::physics::Joint::Joint ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] Joint parent

virtual gazebo::physics::Joint::~Joint ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::Joint::ApplyDamping ( )

virtual

Callback to apply damping force to joint.

Reimplemented in gazebo::physics::DARTJoint.

virtual bool gazebo::physics::Joint::AreConnected	(	LinkPtr	_one,
		LinkPtr	_two
	)		const

pure virtual

Determines of the two bodies are connected by a joint.

Parameters

[in]	_one	First link.
[in]	_two	Second link.

Returns: True if the two links are connected by a joint.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual void gazebo::physics::Joint::Attach	(	LinkPtr	_parent,
		LinkPtr	_child
	)

virtual

Attach the two bodies with this joint.

Parameters

[in]	_parent	Parent link.
[in]	_child	Child link.

Reimplemented in gazebo::physics::DARTJoint.

virtual void gazebo::physics::Joint::CacheForceTorque ( )

inlinevirtual

Cache Joint Force Torque Values if necessary for physics engine.

Reimplemented in gazebo::physics::SimbodyJoint.

double gazebo::physics::Joint::CheckAndTruncateForce	(	int	_index,
		double	_effort
	)

check if the force against velocityLimit and effortLimit, truncate if necessary.

Parameters

[in]	_index	Index of the axis.
[in]	_effort	Force value.

Returns: truncated effort

template<typename T >

event::ConnectionPtr gazebo::physics::Joint::ConnectJointUpdate ( T _subscriber )

inline

Connect a boost::slot the the joint update signal.

Parameters

[in] _subscriber Callback for the connection.

Returns: Connection pointer, which must be kept in scope.

References gazebo::event::EventT< T >::Connect().

virtual void gazebo::physics::Joint::Detach ( )

virtual

Detach this joint from all links.

Reimplemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

void gazebo::physics::Joint::DisconnectJointUpdate ( event::ConnectionPtr & _conn )

inline

Disconnect a boost::slot the the joint update signal.

Parameters

[in] _conn Connection to disconnect.

References gazebo::event::EventT< T >::Disconnect().

void gazebo::physics::Joint::FillMsg ( msgs::Joint & _msg )

Fill a joint message.

Parameters

[out] _msg Message to fill with this joint's properties.

virtual math::Vector3 gazebo::physics::Joint::GetAnchor ( int _index ) const

pure virtual

Get the anchor point.

Parameters

[in] _index Index of the axis.

Returns: Anchor value for the axis.

Implemented in gazebo::physics::ScrewJoint< DARTJoint >, gazebo::physics::ScrewJoint< SimbodyJoint >, gazebo::physics::SimbodyJoint, gazebo::physics::SliderJoint< DARTJoint >, gazebo::physics::SliderJoint< SimbodyJoint >, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTBallJoint, gazebo::physics::DARTSliderJoint, and gazebo::physics::DARTUniversalJoint.

math::Angle gazebo::physics::Joint::GetAngle ( int _index ) const

Get the angle of rotation of an axis(index)

Parameters

[in] _index Index of the axis.

Returns: Angle of the axis.

virtual unsigned int gazebo::physics::Joint::GetAngleCount ( ) const

pure virtual

Get the angle count.

Returns: The number of DOF for the joint.

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

protectedpure virtual

Get the angle of an axis helper function.

Parameters

[in] _index Index of the axis.

Returns: Angle of the axis.

Implemented in gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::DARTBallJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTScrewJoint, gazebo::physics::DARTSliderJoint, and gazebo::physics::DARTUniversalJoint.

virtual double gazebo::physics::Joint::GetAttribute	(	const std::string &	_key,
		unsigned int	_index
	)

pure virtual

Get a non-generic parameter for the joint.

Parameters

[in]	_key	String key.
[in]	_index	Index of the axis.
[in]	_value	Value of the attribute.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

LinkPtr gazebo::physics::Joint::GetChild ( ) const

Get the child link.

Returns: Pointer to the child link.

double gazebo::physics::Joint::GetDamping ( int _index )

Returns the current joint damping coefficient.

Parameters

[in] _index Index of the axis to get, currently ignored, to be implemented.

Returns: Joint viscous damping coefficient for this joint.

double gazebo::physics::Joint::GetDampingCoefficient ( ) const

Get damping coefficient of this joint.

Returns: viscous joint damping coefficient

virtual double gazebo::physics::Joint::GetEffortLimit ( int _index )

virtual

Get the effort limit on axis(index).

Parameters

[in] _index Index of axis, where 0=first axis and 1=second axis

Returns: Effort limit specified in SDF

virtual double gazebo::physics::Joint::GetForce ( unsigned int _index )

virtual

Todo:: : not yet implemented. Get external forces applied at this Joint. 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 force applied to an axis.

Reimplemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual JointWrench gazebo::physics::Joint::GetForceTorque ( unsigned int _index )

pure virtual

get internal force and torque values at a joint.

The force and torque values are returned in a JointWrench data structure. Where JointWrench.body1Force contains the force applied by the parent Link on the Joint specified in the parent Link frame, and JointWrench.body2Force contains the force applied by the child Link on the Joint specified in the child Link frame. Note that this sign convention is opposite of the reaction forces of the Joint on the Links.

FIXME TODO: change name of this function to something like: GetNegatedForceTorqueInLinkFrame and make GetForceTorque call return non-negated reaction forces in perspective Link frames.

Note that for ODE you must set <provide_feedback>true<provide_feedback> in the joint sdf to use this.

Parameters

[in] _index Not used right now

Returns: The force and torque at the joint, see above for details on conventions.

Implemented in gazebo::physics::SimbodyJoint, and gazebo::physics::DARTJoint.

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

pure 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.

Implemented in gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTBallJoint, gazebo::physics::DARTSliderJoint, gazebo::physics::DARTUniversalJoint, and gazebo::physics::DARTScrewJoint.

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

pure 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.

Implemented in gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTJoint, gazebo::physics::BallJoint< DARTJoint >, gazebo::physics::BallJoint< SimbodyJoint >, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, and gazebo::physics::SimbodyScrewJoint.

double gazebo::physics::Joint::GetInertiaRatio ( unsigned int _index ) const

Accessor to inertia ratio across this joint.

Parameters

[in] _index Joint axis index.

Returns: returns the inertia ratio across specified joint axis.

math::Pose gazebo::physics::Joint::GetInitialAnchorPose ( )

Get initial Anchor Pose specified by model <joint><pose>...</pose></joint>

Returns: Joint::anchorPose, initial joint anchor pose.

virtual LinkPtr gazebo::physics::Joint::GetJointLink ( int _index ) const

pure virtual

Get the link to which the joint is attached according the _index.

Parameters

[in] _index Index of the link to retreive.

Returns: Pointer to the request link. NULL if the index was invalid.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual math::Vector3 gazebo::physics::Joint::GetLinkForce ( unsigned int _index ) const

pure virtual

Get the forces applied to the center of mass of a physics::Link due to the existence of this Joint.

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

Parameters

[in] index The index of the link(0 or 1).

Returns: Force applied to the link.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual math::Vector3 gazebo::physics::Joint::GetLinkTorque ( unsigned int _index ) const

pure virtual

Get the torque applied to the center of mass of a physics::Link due to the existence of this Joint.

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

Parameters

[in] index The index of the link(0 or 1)

Returns: Torque applied to the link.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

math::Vector3 gazebo::physics::Joint::GetLocalAxis ( int _index ) const

Get the axis of rotation.

Parameters

[in] _index Index of the axis to get.

Returns: Axis value for the provided index.

math::Angle gazebo::physics::Joint::GetLowerLimit ( unsigned int _index ) const

: get the joint upper limit (replaces GetLowStop and GetHighStop)

Parameters

[in] _index Index of the axis.

Returns: Upper limit of the axis.

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

pure 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.

Implemented in gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTJoint, gazebo::physics::BallJoint< DARTJoint >, gazebo::physics::BallJoint< SimbodyJoint >, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, and gazebo::physics::SimbodyScrewJoint.

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

pure 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.

Implemented in gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTScrewJoint, gazebo::physics::DARTSliderJoint, gazebo::physics::DARTUniversalJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, and gazebo::physics::DARTBallJoint.

LinkPtr gazebo::physics::Joint::GetParent ( ) const

Get the parent link.

Returns: Pointer to the parent link.

math::Angle gazebo::physics::Joint::GetUpperLimit ( unsigned int _index ) const

: get the joint lower limit (replacee GetLowStop and GetHighStop)

Parameters

[in] _index Index of the axis.

Returns: Upper limit of the axis.

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

pure virtual

Get the rotation rate of an axis(index)

Parameters

[in] _index Index of the axis.

Returns: The rotaional velocity of the joint axis.

Implemented in gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTScrewJoint, gazebo::physics::DARTSliderJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::DARTUniversalJoint, gazebo::physics::DARTBallJoint, and gazebo::physics::SimbodySliderJoint.

virtual double gazebo::physics::Joint::GetVelocityLimit ( int _index )

virtual

Get the velocity limit on axis(index).

Parameters

[in] _index Index of axis, where 0=first axis and 1=second axis

Returns: Velocity limit specified in SDF

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

virtual

Initialize a joint.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::HingeJoint< DARTJoint >, gazebo::physics::HingeJoint< SimbodyJoint >, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTBallJoint, gazebo::physics::DARTScrewJoint, gazebo::physics::DARTSliderJoint, and gazebo::physics::DARTUniversalJoint.

void gazebo::physics::Joint::Load	(	LinkPtr	_parent,
		LinkPtr	_child,
		const math::Pose &	_pose
	)

Set pose, parent and child links of a physics::Joint.

Parameters

[in]	_parent	Parent link.
[in]	_child	Child link.
[in]	_pose	Pose containing Joint Anchor offset from child link.

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

virtual

Load physics::Joint from a SDF sdf::Element.

Parameters

[in] _sdf SDF values to load from.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Joint::Reset ( )

virtual

Reset the joint.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual void gazebo::physics::Joint::SetAnchor	(	int	_index,
		const math::Vector3 &	_anchor
	)

pure virtual

Set the anchor point.

Parameters

[in]	_index	Indx of the axis.
[in]	_anchor	Anchor value.

Implemented in gazebo::physics::ScrewJoint< DARTJoint >, gazebo::physics::ScrewJoint< SimbodyJoint >, gazebo::physics::DARTJoint, gazebo::physics::SimbodyJoint, gazebo::physics::SliderJoint< DARTJoint >, and gazebo::physics::SliderJoint< SimbodyJoint >.

void gazebo::physics::Joint::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.

But if this Model is not static, then it is updated dynamically, all the conencted children Link's are moved as a result of the Joint angle setting. Dynamic Joint angle update is accomplished by calling JointController::SetJointPosition.

Parameters

[in]	_index	Index of the axis.
[in]	_angle	Angle to set the joint to.

virtual void gazebo::physics::Joint::SetAttribute	(	const std::string &	_key,
		int	_index,
		const boost::any &	_value
	)

pure virtual

Set a non-generic parameter for the joint.

replaces SetAttribute(Attribute, int, double)

Parameters

[in]	_key	String key.
[in]	_index	Index of the axis.
[in]	_value	Value of the attribute.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

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

pure 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).

Implemented in gazebo::physics::SimbodyJoint, gazebo::physics::BallJoint< DARTJoint >, gazebo::physics::BallJoint< SimbodyJoint >, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::DARTSliderJoint, gazebo::physics::DARTUniversalJoint, gazebo::physics::DARTScrewJoint, and gazebo::physics::SimbodySliderJoint.

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

pure 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.

Implemented in gazebo::physics::DARTJoint, gazebo::physics::SimbodyJoint, gazebo::physics::SimbodySliderJoint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodyScrewJoint, and gazebo::physics::SimbodyBallJoint.

virtual void gazebo::physics::Joint::SetEffortLimit	(	unsigned int	_index,
		double	_effort
	)

virtual

Set the effort limit on a joint axis.

Parameters

[in]	_index	Index of the axis to set.
[in]	_effort	Effort limit for the axis.

virtual void gazebo::physics::Joint::SetForce	(	int	_index,
		double	_effort
	)

pure virtual

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 SetForce to the same joint in the same time step will accumulate forces on that Joint). Forces are truncated by effortLimit before applied.

Parameters

[in]	_index	Index of the axis.
[in]	_effort	Force value.

Implemented in gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual void gazebo::physics::Joint::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 in gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, and gazebo::physics::SimbodyScrewJoint.

virtual void gazebo::physics::Joint::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 in gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::SimbodySliderJoint, and gazebo::physics::SimbodyScrewJoint.

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

pure 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.

Implemented in gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTScrewJoint, gazebo::physics::DARTSliderJoint, gazebo::physics::DARTUniversalJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::DARTBallJoint, and gazebo::physics::SimbodySliderJoint.

void gazebo::physics::Joint::SetModel ( ModelPtr _model )

Set the model this joint belongs too.

Parameters

[in] _model Pointer to a model.

virtual void gazebo::physics::Joint::SetProvideFeedback ( bool _enable )

virtual

Set whether the joint should generate feedback.

Parameters

[in] _enable True to enable joint feedback.

void gazebo::physics::Joint::SetState ( const JointState & _state )

Set the joint state.

Parameters

[in] _state Joint state

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

pure virtual

Set the velocity of an axis(index).

Parameters

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

Implemented in gazebo::physics::SimbodyScrewJoint, gazebo::physics::SimbodyHinge2Joint, gazebo::physics::SimbodyUniversalJoint, gazebo::physics::DARTHinge2Joint, gazebo::physics::DARTScrewJoint, gazebo::physics::DARTHingeJoint, gazebo::physics::DARTUniversalJoint, gazebo::physics::SimbodyBallJoint, gazebo::physics::DARTSliderJoint, gazebo::physics::SimbodyHingeJoint, gazebo::physics::DARTBallJoint, and gazebo::physics::SimbodySliderJoint.

void gazebo::physics::Joint::Update ( )

virtual

Update the joint.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Joint::UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from gazebo::physics::Base.

Member Data Documentation

LinkPtr gazebo::physics::Joint::anchorLink

protected

Anchor link.

math::Vector3 gazebo::physics::Joint::anchorPos

protected

Anchor pose.

This is the xyz offset of the joint frame from child frame specified in the parent link frame

math::Pose gazebo::physics::Joint::anchorPose

protected

Anchor pose specified in SDF <joint><pose> tag.

AnchorPose is the transform from child link frame to joint frame specified in the child link frame. AnchorPos is more relevant in normal usage, but sometimes, we do need this (e.g. GetForceTorque and joint visualization).

gazebo::event::ConnectionPtr gazebo::physics::Joint::applyDamping

protected

apply damping for adding viscous damping forces on updates

LinkPtr gazebo::physics::Joint::childLink

protected

The first link this joint connects to.

double gazebo::physics::Joint::dampingCoefficient

protected

joint dampingCoefficient

double gazebo::physics::Joint::effortLimit[2]

protected

Store Joint effort limit as specified in SDF.

double gazebo::physics::Joint::inertiaRatio[2]

protected

Store Joint inertia ratio.

This is a measure of how well this model behaves using interative LCP solvers.

math::Angle gazebo::physics::Joint::lowerLimit[2]

protected

Store Joint position lower limit as specified in SDF.

ModelPtr gazebo::physics::Joint::model

protected

Pointer to the parent model.

LinkPtr gazebo::physics::Joint::parentLink

protected

The second link this joint connects to.

bool gazebo::physics::Joint::provideFeedback

protected

Provide Feedback data for contact forces.

math::Angle gazebo::physics::Joint::upperLimit[2]

protected

Store Joint position upper limit as specified in SDF.

bool gazebo::physics::Joint::useCFMDamping

protected

option to use CFM damping

double gazebo::physics::Joint::velocityLimit[2]

protected

Store Joint velocity limit as specified in SDF.

JointWrench gazebo::physics::Joint::wrench

protected

Cache Joint force torque values in case physics engine clears them at the end of update step.

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

Joint.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation