A single axis hinge joint. More...
#include <SimbodyHingeJoint.hh>
Public Member Functions | |
| SimbodyHingeJoint (SimTK::MultibodySystem *world, BasePtr _parent) | |
| Constructor. More... | |
| virtual | ~SimbodyHingeJoint () |
| Destructor. More... | |
| virtual math::Vector3 | GetGlobalAxis (unsigned int _index) const |
| Get the axis of rotation in global cooridnate frame. More... | |
| virtual double | GetMaxForce (unsigned int _index) |
| Get the max allowed force of an axis(index) when using Joint::SetVelocity. More... | |
| virtual double | GetVelocity (unsigned int _index) const |
| Get the rotation rate of an axis(index) More... | |
| virtual void | RestoreSimbodyState (SimTK::State &_state) |
| restore simbody state for spawning More... | |
| virtual void | SaveSimbodyState (const SimTK::State &_state) |
| save simbody state for spawning More... | |
| void | SetAxis (unsigned int _index, const math::Vector3 &_axis) |
| Set the axis of rotation where axis is specified in local joint frame. More... | |
| virtual void | SetMaxForce (unsigned int _index, double _t) |
| Set the max allowed force of an axis(index) when using Joint::SetVelocity. More... | |
| virtual void | SetVelocity (unsigned int _index, double _rate) |
| Set the velocity of an axis(index). More... | |
 Public Member Functions inherited from gazebo::physics::HingeJoint< SimbodyJoint > | |
| HingeJoint (BasePtr _parent) | |
| Constructor. More... | |
| virtual | ~HingeJoint () |
| Destructor. More... | |
| virtual unsigned int | GetAngleCount () const |
| 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 math::Vector3 | GetAnchor (unsigned int _index) const |
| Get the anchor point. 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 (const std::string &_key, unsigned int _index) |
| Get a non-generic parameter for the joint. More... | |
| virtual void | Reset () |
| Reset the joint. More... | |
| virtual void | SetAnchor (unsigned int _index, const gazebo::math::Vector3 &_anchor) |
| Set the anchor point. More... | |
| virtual void | SetDamping (unsigned int _index, const double _damping) |
| Set the joint damping. 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 bool | SetParam (const std::string &_key, unsigned int _index, const boost::any &_value) |
| Set a non-generic parameter for the joint. 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... | |
| Public Member Functions inherited from gazebo::physics::Joint | |
| Joint (BasePtr _parent) | |
| Constructor. More... | |
| virtual | ~Joint () |
| Destructor. More... | |
| virtual void | ApplyStiffnessDamping () |
| Callback to apply spring stiffness and viscous damping effects to joint. More... | |
| virtual void | Attach (LinkPtr _parent, LinkPtr _child) |
| Attach the two bodies with this joint. 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... | |
| 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... | |
| 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... | |
| 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... | |
| 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 | 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... | |
| void | Load (LinkPtr _parent, LinkPtr _child, const math::Pose &_pose) |
| Set pose, parent and child links of a physics::Joint. 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... | |
| void | SetModel (ModelPtr _model) |
| Set the model this joint belongs too. 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... | |
| 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 | 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 math::Angle | GetAngleImpl (unsigned int _index) const |
| Get the angle of an axis helper function. More... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load joint. More... | |
| virtual void | SetForceImpl (unsigned int _index, double _torque) |
| Set the force applied to this physics::Joint. More... | |
| Protected Member Functions inherited from gazebo::physics::HingeJoint< SimbodyJoint > | |
| virtual void | Init () |
| Initialize 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... | |
| 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... | |
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 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, FIXED_JOINT = 0x00004000, 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 Attributes inherited from gazebo::physics::SimbodyJoint | |
| SimTK::Constraint | constraint |
| : isValid() if we used a constraint to model this joint. More... | |
| SimTK::Force::MobilityLinearDamper | damper [MAX_JOINT_AXIS] |
| : 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 [MAX_JOINT_AXIS] |
| : 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::Force::MobilityLinearSpring | spring [MAX_JOINT_AXIS] |
| : Spring force element for enforcing joint stiffness. More... | |
| 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::SimbodyJoint | |
| SimbodyPhysicsPtr | simbodyPhysics |
| keep a pointer to the simbody physics engine for convenience More... | |
| SimTK::MultibodySystem * | world |
| Simbody Multibody System. 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... | |
A single axis hinge joint.
| gazebo::physics::SimbodyHingeJoint::SimbodyHingeJoint | ( | SimTK::MultibodySystem * | world, |
| BasePtr | _parent | ||
| ) |
Constructor.
|
virtual |
Destructor.
|
protectedvirtual |
Get the angle of an axis helper function.
| [in] | _index | Index of the axis. |
Implements gazebo::physics::Joint.
|
virtual |
Get the axis of rotation in global cooridnate frame.
| [in] | _index | Index of the axis to get. |
Implements gazebo::physics::Joint.
|
virtual |
Get the max allowed force of an axis(index) when using Joint::SetVelocity.
Note that the unit of force should be consistent with the rest of the simulation scales.
| [in] | _index | Index of the axis. |
Implements gazebo::physics::Joint.
|
virtual |
Get the rotation rate of an axis(index)
| [in] | _index | Index of the axis. |
Implements gazebo::physics::Joint.
|
protectedvirtual |
Load joint.
| [in] | _sdf | Pointer to SDF element |
Reimplemented from gazebo::physics::HingeJoint< SimbodyJoint >.
|
virtual |
restore simbody state for spawning
Reimplemented from gazebo::physics::SimbodyJoint.
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virtual |
save simbody state for spawning
Reimplemented from gazebo::physics::SimbodyJoint.
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virtual |
Set the axis of rotation where axis is specified in local joint frame.
| [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.
|
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).
| [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 |
Set the max allowed force of an axis(index) when using Joint::SetVelocity.
Current implementation in Bullet and ODE is enforced using impulses, which enforces force/torque limits when calling Joint::SetVelocity. Current implementation is engine dependent. See for example ODE implementation in ODEHingeJoint::SetMaxForce. Note this functionality is not implemented in DART and Simbody. Note that the unit of force should be consistent with the rest of the simulation scales.
| [in] | _index | Index of the axis. |
| [in] | _force | Maximum force that can be applied to the axis. |
Implements gazebo::physics::Joint.
|
virtual |
Set the velocity of an axis(index).
In ODE and Bullet, the SetVelocityMaximal function is used to set the velocity of the child link relative to the parent. In Simbody and DART, this function updates the velocity state, which has a recursive effect on the rest of the chain.
| [in] | _index | Index of the axis. |
| [in] | _vel | Velocity. |
Implements gazebo::physics::Joint.