BulletBallJoint class models a ball joint in Bullet. More...

#include <BulletBallJoint.hh>

Inheritance diagram for gazebo::physics::BulletBallJoint:

Public Member Functions
	BulletBallJoint (btDynamicsWorld *_world, BasePtr _parent)
	Bullet Ball Joint Constructor. More...

virtual	~BulletBallJoint ()
	Destructor. More...

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

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

virtual math::Vector3	GetAxis (unsigned int _index) const

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

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

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

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

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

virtual void	Load (sdf::ElementPtr _sdf)
	Load a BulletJoint. 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...

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	SetVelocity (unsigned int _index, double _angle)
	Set the velocity of an axis(index). More...

Public Member Functions inherited from gazebo::physics::BallJoint< BulletJoint >
	BallJoint (BasePtr _parent)
	Constructor. More...

virtual	~BallJoint ()
	Destructor. More...

virtual unsigned int	GetAngleCount () const

void	Load (sdf::ElementPtr _sdf)
	Template to ::Load the BallJoint. More...

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

virtual	~BulletJoint ()
	Destructor. More...

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

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 bodies. More...

virtual double	GetForce (unsigned int _index)

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

LinkPtr	GetJointLink (unsigned int _index) const
	Get the body to which the joint is attached according the _index. More...

virtual math::Vector3	GetLinkForce (unsigned int _index) const
	Get the force the joint applies to the first body. More...

virtual math::Vector3	GetLinkTorque (unsigned int _index) const
	Get the torque the joint applies to the first body. 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, 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	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...

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

virtual	~Joint ()
	Destructor. 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...

virtual 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...

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...

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 void	SetForceImpl (unsigned int _index, double _torque)
	Set the force applied to this physics::Joint. More...

Protected Member Functions inherited from gazebo::physics::BulletJoint
void	SetupJointFeedback ()
	: Setup joint feedback datatructure. 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...

Protected Attributes inherited from gazebo::physics::BulletJoint
btDynamicsWorld *	bulletWorld
	Pointer to Bullet's btDynamicsWorld. More...

btTypedConstraint *	constraint
	Pointer to a contraint object in Bullet. 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

BulletBallJoint class models a ball joint in Bullet.

Constructor & Destructor Documentation

gazebo::physics::BulletBallJoint::BulletBallJoint	(	btDynamicsWorld *	_world,
		BasePtr	_parent
	)

Bullet Ball Joint Constructor.

virtual gazebo::physics::BulletBallJoint::~BulletBallJoint ( )

virtual

Destructor.

Member Function Documentation

math::Vector3 gazebo::physics::BulletBallJoint::GetAnchor ( unsigned int _index ) const

virtual

Get the anchor point.

Reimplemented from gazebo::physics::BulletJoint.

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

virtual

Get the angle of an axis helper function.

Parameters

[in] _index Index of the axis.

Returns: Angle of the axis.

Implements gazebo::physics::Joint.

virtual math::Vector3 gazebo::physics::BulletBallJoint::GetAxis ( unsigned int _index ) const

virtual

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

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.

Implements gazebo::physics::Joint.

virtual math::Angle gazebo::physics::BulletBallJoint::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.

Reimplemented from gazebo::physics::BulletJoint.

virtual math::Angle gazebo::physics::BulletBallJoint::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.

Reimplemented from gazebo::physics::BulletJoint.

virtual double gazebo::physics::BulletBallJoint::GetVelocity ( unsigned int _index ) const

virtual

Get the rotation rate of an axis(index)

Parameters

[in] _index Index of the axis.

Returns: The rotaional velocity of the joint axis.

Implements gazebo::physics::Joint.

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

virtual

Initialize joint.

Reimplemented from gazebo::physics::BallJoint< BulletJoint >.

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

virtual

Load a BulletJoint.

Reimplemented from gazebo::physics::BulletJoint.

virtual void gazebo::physics::BulletBallJoint::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.

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

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).

Parameters

[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::BulletJoint.

virtual bool gazebo::physics::BulletBallJoint::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.

virtual bool gazebo::physics::BulletBallJoint::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.

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

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.

Parameters

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

Implements gazebo::physics::Joint.

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

BulletBallJoint.hh

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation