ODE joint interface. More...

#include <ODEJoint.hh>

Inheritance diagram for gazebo::physics::ODEJoint:

Public Types
enum	CFMMode { NONE = 0x00000000, DAMPING_ACTIVE = 0x00000001, JOINT_LIMIT = 0x00000002 }
	internal variables used for implicit damping More...

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 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, GEARBOX_JOINT = 0x00002000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000, HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000, PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000, SENSOR_COLLISION = 0x10000000 }
	Unique identifiers for all entity types. More...

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

virtual	~ODEJoint ()
	Destructor. More...

void	ApplyExplicitStiffnessDamping ()
	simulating a joint spring and damper explicitly. More...

void	ApplyImplicitStiffnessDamping ()
	simulate implicit spring and damper with CFM/ERP and meddling with Joint limits. More...

virtual void	ApplyStiffnessDamping ()
	Callback to apply spring stiffness and viscous damping effects to joint. More...

virtual bool	AreConnected (LinkPtr _one, LinkPtr _two) const
	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	Detach ()
	Detach this joint from all links. More...

double	GetCFM ()
	Get the CFM of this joint. More...

double	GetERP ()
	Get the ERP of this joint. More...

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

virtual double	GetForce (unsigned int _index)

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

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

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

virtual double	GetParam (unsigned int _parameter) const
	Get an ODE joint parameter. More...

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

double	GetStopCFM ()
	Get access to stopCFM. More...

double	GetStopERP ()
	Get access to stopERP. 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	SetAxis (unsigned int _index, const math::Vector3 &_axis)
	Set the axis of rotation where axis is specified in local joint frame. More...

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

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

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

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

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

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

virtual void	SetParam (unsigned int _parameter, double _value)
	Set an ODE joint paramter. More...

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

virtual bool	SetPosition (unsigned int _index, double _position)
	The child links of this joint are updated based on desired position. More...

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

virtual void	SetStiffness (unsigned int _index, const double _stiffness)
	Set the joint spring stiffness. More...

virtual void	SetStiffnessDamping (unsigned int _index, double _stiffness, double _damping, double _reference=0)
	Set the joint spring stiffness. More...

void	UseImplicitSpringDamper (const bool _implicit)
	Set flag indicating whether implicit spring damper is enabled. More...

bool	UsesImplicitSpringDamper ()
	Get flag indicating whether implicit spring damper is enabled. More...

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

virtual	~Joint ()
	Destructor. More...

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

double	CheckAndTruncateForce (unsigned 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...

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

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

math::Pose	GetAnchorErrorPose () const
	Get pose offset between anchor pose on child and parent, expressed in the parent link frame. More...

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

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

math::Quaternion	GetAxisFrame (unsigned int _index) const
	Get orientation of reference frame for specified axis, relative to world frame. More...

math::Quaternion	GetAxisFrameOffset (unsigned int _index) const
	Get orientation of joint axis reference frame relative to joint frame. More...

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

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

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

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

double	GetInertiaRatio (const unsigned int _index) const
	Computes moment of inertia (MOI) across a specified joint axis. More...

double	GetInertiaRatio (const math::Vector3 &_axis) const
	Computes moment of inertia (MOI) across an arbitrary axis specified in the world frame. More...

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

math::Vector3	GetLocalAxis (unsigned 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 double	GetMaxForce (unsigned int _index) GAZEBO_DEPRECATED(5.0)=0
	Get the max allowed force of an axis(index) when using Joint::SetVelocity. More...

msgs::Joint::Type	GetMsgType () const
	Get the joint type as msgs::Joint::Type. More...

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

math::Pose	GetParentWorldPose () const
	Get anchor pose on parent link relative to world frame. More...

double	GetSpringReferencePosition (unsigned int _index) const
	Get joint spring reference position. More...

double	GetStiffness (unsigned int _index)
	Returns the current joint spring stiffness coefficient. More...

double	GetStopDissipation (unsigned int _index) const
	Get joint stop dissipation. More...

double	GetStopStiffness (unsigned int _index) const
	Get joint stop stiffness. More...

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

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

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

double	GetWorldEnergyPotentialSpring (unsigned int _index) const
	Returns this joint's spring potential energy, based on the reference position of the spring. More...

math::Pose	GetWorldPose () const
	Get pose of joint frame relative to world frame. 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	SetAnchor (unsigned int _index, const math::Vector3 &_anchor)=0
	Set the anchor point. More...

void	SetAngle (unsigned int _index, math::Angle _angle) GAZEBO_DEPRECATED(4.0)
	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	SetEffortLimit (unsigned int _index, double _effort)
	Set the effort limit on a joint axis. More...

void	SetLowerLimit (unsigned int _index, math::Angle _limit)
	: set the joint upper limit (replaces SetLowStop and SetHighStop) More...

virtual void	SetMaxForce (unsigned int _index, double _force) GAZEBO_DEPRECATED(5.0)=0
	Set the max allowed force of an axis(index) when using Joint::SetVelocity. More...

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

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

void	SetStopDissipation (unsigned int _index, double _dissipation)
	Set joint stop dissipation. More...

void	SetStopStiffness (unsigned int _index, double _stiffness)
	Set joint stop stiffness. More...

void	SetUpperLimit (unsigned int _index, math::Angle _limit)
	: set the joint lower limit (replacee GetLowStop and GetHighStop) More...

virtual void	SetVelocity (unsigned int _index, double _vel)=0
	Set the velocity of an axis(index). More...

virtual void	SetVelocityLimit (unsigned int _index, double _velocity)
	Set the velocity limit on a joint axis. 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...

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 (bool _prependWorldName=false) const
	Return the name of this entity with the model scope 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	SetForceImpl (unsigned int _index, double _force)=0
	Set the force applied to this physics::Joint. More...

Protected Member Functions inherited from gazebo::physics::Joint
math::Pose	ComputeChildLinkPose (unsigned int _index, double _position)
	internal function to help us compute child link pose if a joint position change is applied. More...

bool	FindAllConnectedLinks (const LinkPtr &_originalParentLink, Link_V &_connectedLinks)
	internal helper to find all links connected to the child link branching out from the children of the child link and any parent of the child link other than the parent link through this joint. More...

virtual math::Angle	GetAngleImpl (unsigned int _index) const =0
	Get the angle of an axis helper function. More...

bool	SetPositionMaximal (unsigned int _index, double _position)
	Helper function for maximal coordinate solver SetPosition. More...

bool	SetVelocityMaximal (unsigned int _index, double _velocity)
	Helper function for maximal coordinate solver SetVelocity. 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
dJointID	jointId
	This is our ODE ID. More...

Protected Attributes inherited from gazebo::physics::Joint
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...

bool	axisParentModelFrame [2]
	Flags that are set to true if an axis value is expressed in the parent model frame. More...

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

double	dissipationCoefficient [2]
	joint viscous damping coefficient More...

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

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

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

math::Pose	parentAnchorPose
	Anchor pose relative to parent link frame. More...

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

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

double	springReferencePosition [2]
	joint spring reference (zero load) position More...

double	stiffnessCoefficient [2]
	joint stiffnessCoefficient More...

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

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

ODE joint interface.

Member Enumeration Documentation

enum gazebo::physics::ODEJoint::CFMMode

internal variables used for implicit damping

Enumerator
NONE	implicit damping not active
DAMPING_ACTIVE	implicit damping active, joints within limits
JOINT_LIMIT	implicit damping not active, enforcing joints limits

Constructor & Destructor Documentation

gazebo::physics::ODEJoint::ODEJoint ( BasePtr _parent )

Constructor.

Parameters

[in] _parent Parent of the Joint.

virtual gazebo::physics::ODEJoint::~ODEJoint ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::ODEJoint::ApplyExplicitStiffnessDamping ( )

simulating a joint spring and damper explicitly.

void gazebo::physics::ODEJoint::ApplyImplicitStiffnessDamping ( )

simulate implicit spring and damper with CFM/ERP and meddling with Joint limits.

virtual void gazebo::physics::ODEJoint::ApplyStiffnessDamping ( )

virtual

Callback to apply spring stiffness and viscous damping effects to joint.

: rename to ApplySpringStiffnessDamping()

Reimplemented from gazebo::physics::Joint.

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

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.

Implements gazebo::physics::Joint.

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

virtual

Attach the two bodies with this joint.

Parameters

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

Reimplemented from gazebo::physics::Joint.

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

virtual

Detach this joint from all links.

Reimplemented from gazebo::physics::Joint.

double gazebo::physics::ODEJoint::GetCFM ( )

Get the CFM of this joint.

Returns: The Constraint Force Mixing value

double gazebo::physics::ODEJoint::GetERP ( )

Get the ERP of this joint.

Returns: The Error Reduction Parameter of this joint

dJointFeedback* gazebo::physics::ODEJoint::GetFeedback ( )

Get the feedback data structure for this joint, if set.

Returns: Pointer to the joint feedback.

virtual double gazebo::physics::ODEJoint::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 from gazebo::physics::Joint.

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

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.

Implements gazebo::physics::Joint.

virtual math::Angle gazebo::physics::ODEJoint::GetHighStop ( unsigned 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.

Reimplemented in gazebo::physics::ODEBallJoint.

virtual LinkPtr gazebo::physics::ODEJoint::GetJointLink ( unsigned int _index ) const

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.

Implements gazebo::physics::Joint.

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

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.

Implements gazebo::physics::Joint.

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

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.

Implements gazebo::physics::Joint.

virtual math::Angle gazebo::physics::ODEJoint::GetLowStop ( unsigned 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.

Reimplemented in gazebo::physics::ODEBallJoint.

virtual double gazebo::physics::ODEJoint::GetParam ( unsigned int _parameter ) const

virtual

Get an ODE joint parameter.

The default function does nothing. This should be overriden in the child classes where appropriate.

Parameters

[in] _parameter ID of the parameter to get.

Returns: Value of the parameter.

Reimplemented in gazebo::physics::ODEUniversalJoint, gazebo::physics::ODEScrewJoint, gazebo::physics::ODEGearboxJoint, gazebo::physics::ODEHinge2Joint, gazebo::physics::ODEHingeJoint, and gazebo::physics::ODESliderJoint.

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

virtual

Get a non-generic parameter for the joint.

See Also: SetParam(const std::string &, unsigned int, const boost::any)

Parameters

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

Reimplemented from gazebo::physics::Joint.

Reimplemented in gazebo::physics::ODEScrewJoint, and gazebo::physics::ODEUniversalJoint.

double gazebo::physics::ODEJoint::GetStopCFM ( )

inline

Get access to stopCFM.

Returns: Returns joint's cfm for end stops

double gazebo::physics::ODEJoint::GetStopERP ( )

inline

Get access to stopERP.

Returns: Returns joint's erp for end stops

virtual void gazebo::physics::ODEJoint::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::Joint.

Reimplemented in gazebo::physics::BallJoint< ODEJoint >, gazebo::physics::UniversalJoint< ODEJoint >, gazebo::physics::Hinge2Joint< ODEJoint >, gazebo::physics::HingeJoint< ODEJoint >, gazebo::physics::GearboxJoint< ODEJoint >, gazebo::physics::ScrewJoint< ODEJoint >, gazebo::physics::SliderJoint< ODEJoint >, gazebo::physics::ODEHinge2Joint, gazebo::physics::ODEHingeJoint, gazebo::physics::ODEGearboxJoint, gazebo::physics::ODESliderJoint, and gazebo::physics::ODEScrewJoint.

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

virtual

Reset the joint.

Reimplemented from gazebo::physics::Joint.

virtual void gazebo::physics::ODEJoint::SetAxis	(	unsigned 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).

Implements gazebo::physics::Joint.

Reimplemented in gazebo::physics::ODEBallJoint, gazebo::physics::ODEGearboxJoint, gazebo::physics::ODEHingeJoint, gazebo::physics::ODESliderJoint, gazebo::physics::ODEHinge2Joint, gazebo::physics::ODEScrewJoint, and gazebo::physics::ODEUniversalJoint.

void gazebo::physics::ODEJoint::SetCFM ( double _cfm )

Set the CFM of this joint.

Parameters

[in] _cfm The Constraint Force Mixing value

virtual void gazebo::physics::ODEJoint::SetDamping	(	unsigned 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.

Implements gazebo::physics::Joint.

void gazebo::physics::ODEJoint::SetERP ( double _erp )

Set the ERP of this joint.

Parameters

[in] _erp Error Reduction Parameter value.

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

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.

Implements gazebo::physics::Joint.

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

protectedpure 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 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.

Implemented in gazebo::physics::ODEScrewJoint, gazebo::physics::ODEUniversalJoint, gazebo::physics::ODEGearboxJoint, gazebo::physics::ODEBallJoint, gazebo::physics::ODEHingeJoint, gazebo::physics::ODEHinge2Joint, and gazebo::physics::ODESliderJoint.

virtual bool gazebo::physics::ODEJoint::SetHighStop	(	unsigned 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.

Reimplemented in gazebo::physics::ODEBallJoint, and gazebo::physics::ODEUniversalJoint.

virtual bool gazebo::physics::ODEJoint::SetLowStop	(	unsigned 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.

Reimplemented in gazebo::physics::ODEBallJoint, and gazebo::physics::ODEUniversalJoint.

virtual void gazebo::physics::ODEJoint::SetParam	(	unsigned int	_parameter,
		double	_value
	)

virtual

Set an ODE joint paramter.

By default this does nothing. It should be overridden in child classes where appropriate

Parameters

[in]	_parameter	ID of the parameter to set.
[in]	_value	Value to set.

Reimplemented in gazebo::physics::ODEScrewJoint, gazebo::physics::ODEGearboxJoint, gazebo::physics::ODEHingeJoint, gazebo::physics::ODEHinge2Joint, gazebo::physics::ODESliderJoint, and gazebo::physics::ODEUniversalJoint.

virtual bool gazebo::physics::ODEJoint::SetParam	(	const std::string &	_key,
		unsigned int	_index,
		const boost::any &	_value
	)

virtual

Set a non-generic parameter for the joint.

replaces SetAttribute(Attribute, int, double) List of parameters: "friction" Axis Coulomb joint friction coefficient. "hi_stop" Axis upper limit. "lo_stop" Axis lower limit.

Parameters

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

Implements gazebo::physics::Joint.

Reimplemented in gazebo::physics::ODEScrewJoint, and gazebo::physics::ODEUniversalJoint.

virtual bool gazebo::physics::ODEJoint::SetPosition	(	unsigned int	_index,
		double	_position
	)

virtual

The child links of this joint are updated based on desired position.

And all the links connected to the child link of this joint except through the parent link of this joint moves with the child link.

Parameters

[in]	_index	Index of the joint axis (degree of freedom).
[in]	_position	Position to set the joint to. unspecified, pure kinematic teleportation.

Returns: returns true if operation succeeds, false if it fails.

Reimplemented from gazebo::physics::Joint.

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

virtual

Set whether the joint should generate feedback.

Parameters

[in] _enable True to enable joint feedback.

Reimplemented from gazebo::physics::Joint.

virtual void gazebo::physics::ODEJoint::SetStiffness	(	unsigned int	_index,
		const double	_stiffness
	)

virtual

Set the joint spring stiffness.

Parameters

[in]	_index	Index of the axis to set, currently ignored, to be implemented.
[in]	_stiffness	Spring stiffness value for the axis. : rename to SetSpringStiffness()

Implements gazebo::physics::Joint.

virtual void gazebo::physics::ODEJoint::SetStiffnessDamping	(	unsigned int	_index,
		double	_stiffness,
		double	_damping,
		double	_reference = `0`
	)

virtual

Set the joint spring stiffness.

Parameters

[in]	_index	Index of the axis to set, currently ignored, to be implemented.
[in]	_stiffness	Stiffness value for the axis.
[in]	_reference	Spring zero load reference position. : rename to SetSpringStiffnessDamping()

Implements gazebo::physics::Joint.

void gazebo::physics::ODEJoint::UseImplicitSpringDamper ( const bool _implicit )

Set flag indicating whether implicit spring damper is enabled.

Parameters

[in] _implicit True if implicit spring damper is used.

bool gazebo::physics::ODEJoint::UsesImplicitSpringDamper ( )

Get flag indicating whether implicit spring damper is enabled.

Returns: True if implicit spring damper is used.

Member Data Documentation

dJointID gazebo::physics::ODEJoint::jointId

protected

This is our ODE ID.

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

ODEJoint.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