BulletFixedJoint.hh
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1 /*
2  * Copyright (C) 2015-2016 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _GAZEBO_BULLETFIXEDJOINT_HH_
18 #define _GAZEBO_BULLETFIXEDJOINT_HH_
19 
20 #include <string>
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GZ_PHYSICS_VISIBLE BulletFixedJoint : public FixedJoint<BulletJoint>
38  {
42  public: BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent);
43 
45  public: virtual ~BulletFixedJoint();
46 
47  // Documentation inherited.
48  protected: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual void Init();
52 
53  // Documentation inherited.
54  public: virtual void SetAxis(unsigned int _index,
55  const math::Vector3 &_axis);
56 
57  // Documentation inherited.
58  public: virtual void SetVelocity(unsigned int _index, double _vel);
59 
60  // Documentation inherited.
61  public: virtual double GetVelocity(unsigned int _index) const;
62 
63  // Documentation inherited.
64  public: virtual bool SetHighStop(unsigned int _index,
65  const math::Angle &_angle);
66 
67  // Documentation inherited.
68  public: virtual bool SetLowStop(unsigned int _index,
69  const math::Angle &_angle);
70 
71  // Documentation inherited.
72  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
73 
74  // Documentation inherited.
75  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
76 
77  // Documentation inherited.
78  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
79 
81  private: btHingeConstraint *bulletFixed;
82  };
84  }
85 }
86 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: BulletFixedJoint.hh:37
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:53