BulletHinge2Joint.hh
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1 /*
2  * Copyright (C) 2012-2015 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _BULLETHINGE2JOINT_HH_
23 #define _BULLETHINGE2JOINT_HH_
24 
25 #include "gazebo/math/Angle.hh"
26 #include "gazebo/math/Vector3.hh"
30 #include "gazebo/util/system.hh"
31 
32 class btHinge2Constraint;
33 
34 namespace gazebo
35 {
36  namespace physics
37  {
41 
43  class GZ_PHYSICS_VISIBLE BulletHinge2Joint : public Hinge2Joint<BulletJoint>
44  {
46  public: BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent);
47 
49  public: virtual ~BulletHinge2Joint();
50 
51  // Documentation inherited.
52  protected: virtual void Load(sdf::ElementPtr _sdf);
53 
54  // Documentation inherited.
55  public: virtual void Init();
56 
57  // Documentation inherited.
58  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
59 
60  // Documentation inherited.
61  public: virtual void SetAxis(unsigned int _index,
62  const math::Vector3 &_axis);
63 
64  // Documentation inherited.
65  public: virtual math::Vector3 GetAxis(unsigned int _index) const;
66 
67  // Documentation inherited.
68  public: math::Angle GetAngle(unsigned int _index) const;
69 
70  // Documentation inherited.
71  public: double GetVelocity(unsigned int _index) const;
72 
73  // Documentation inherited.
74  public: virtual void SetVelocity(unsigned int _index, double _angle);
75 
76  // Documentation inherited.
77  public: virtual void SetMaxForce(unsigned int _index, double _t);
78 
79  // Documentation inherited.
80  public: virtual double GetMaxForce(unsigned int _index);
81 
82  // Documentation inherited.
83  public: virtual bool SetHighStop(unsigned int _index,
84  const math::Angle &_angle);
85 
86  // Documentation inherited.
87  public: virtual bool SetLowStop(unsigned int _index,
88  const math::Angle &_angle);
89 
90  // Documentation inherited.
91  public: virtual math::Angle GetHighStop(unsigned int _index);
92 
93  // Documentation inherited.
94  public: virtual math::Angle GetLowStop(unsigned int _index);
95 
96  // Documentation inherited.
97  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
98 
99  // Documentation inherited.
100  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
101 
102  // Documentation inherited.
103  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
104 
106  private: btHinge2Constraint *bulletHinge2;
107 
110  private: double angleOffset[2];
111 
114  private: math::Vector3 initialWorldAxis[2];
115  };
116 
118  }
119 }
120 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:68
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:318
A two axis hinge joint.
Definition: Hinge2Joint.hh:42
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A two axis hinge joint.
Definition: BulletHinge2Joint.hh:43
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:53