Base class for all joints. More...
#include <BulletJoint.hh>
Public Member Functions | |
| 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 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... | |
| 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 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 | Init () |
| Initialize a joint. More... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load a BulletJoint. 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... | |
| 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... | |
| 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... | |
| void | Load (LinkPtr _parent, LinkPtr _child, const math::Pose &_pose) |
| Set pose, parent and child links of a physics::Joint. More... | |
| virtual void | SetAxis (unsigned int _index, const math::Vector3 &_axis)=0 |
| Set the axis of rotation where axis is specified in local joint frame. More... | |
| virtual void | SetEffortLimit (unsigned int _index, double _effort) |
| Set the effort limit on a joint axis. More... | |
| virtual bool | SetHighStop (unsigned int _index, const math::Angle &_angle) |
| Set the high stop of an axis(index). More... | |
| void | SetLowerLimit (unsigned int _index, math::Angle _limit) |
| : set the joint upper limit (replaces SetLowStop and SetHighStop) More... | |
| virtual bool | SetLowStop (unsigned int _index, const math::Angle &_angle) |
| Set the low stop of an axis(index). 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... | |
| 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... | |
| 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 | |
| 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... | |
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... | |
Base class for all joints.
| gazebo::physics::BulletJoint::BulletJoint | ( | BasePtr | _parent | ) |
Constructor.
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Destructor.
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Callback to apply spring stiffness and viscous damping effects to joint.
: rename to ApplySpringStiffnessDamping()
Reimplemented from gazebo::physics::Joint.
Determines of the two bodies are connected by a joint.
Implements gazebo::physics::Joint.
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Cache Joint Force Torque Values if necessary for physics engine.
Reimplemented from gazebo::physics::Joint.
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Detach this joint from all bodies.
Reimplemented from gazebo::physics::Joint.
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Get the anchor point.
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletHinge2Joint, gazebo::physics::BulletScrewJoint, gazebo::physics::BulletBallJoint, gazebo::physics::BulletHingeJoint, and gazebo::physics::BulletUniversalJoint.
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| [in] | _index | Index of the axis. |
Reimplemented from gazebo::physics::Joint.
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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.
| [in] | _index | Not used right now |
Implements gazebo::physics::Joint.
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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)
| [in] | _index | Index of the axis. |
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletBallJoint, gazebo::physics::BulletHinge2Joint, gazebo::physics::BulletHingeJoint, gazebo::physics::BulletUniversalJoint, and gazebo::physics::BulletSliderJoint.
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Get the body to which the joint is attached according the _index.
Implements gazebo::physics::Joint.
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Get the force the joint applies to the first body.
| index | The index of the body(0 or 1) |
Implements gazebo::physics::Joint.
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Get the torque the joint applies to the first body.
| index | The index of the body(0 or 1) |
Implements gazebo::physics::Joint.
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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)
| [in] | _index | Index of the axis. |
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletBallJoint, gazebo::physics::BulletHinge2Joint, gazebo::physics::BulletHingeJoint, gazebo::physics::BulletUniversalJoint, and gazebo::physics::BulletSliderJoint.
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Get a non-generic parameter for the joint.
| [in] | _key | String key. |
| [in] | _index | Index of the axis. |
Reimplemented from gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletScrewJoint, gazebo::physics::BulletSliderJoint, gazebo::physics::BulletHingeJoint, and gazebo::physics::BulletUniversalJoint.
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Initialize a joint.
Reimplemented from gazebo::physics::Joint.
Reimplemented in gazebo::physics::ScrewJoint< BulletJoint >, gazebo::physics::UniversalJoint< BulletJoint >, gazebo::physics::BallJoint< BulletJoint >, gazebo::physics::BulletScrewJoint, gazebo::physics::HingeJoint< BulletJoint >, gazebo::physics::BulletHinge2Joint, gazebo::physics::FixedJoint< BulletJoint >, gazebo::physics::BulletBallJoint, gazebo::physics::BulletFixedJoint, gazebo::physics::BulletHingeJoint, gazebo::physics::BulletSliderJoint, and gazebo::physics::BulletUniversalJoint.
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Load a BulletJoint.
Reimplemented from gazebo::physics::Joint.
Reimplemented in gazebo::physics::BallJoint< BulletJoint >, gazebo::physics::UniversalJoint< BulletJoint >, gazebo::physics::Hinge2Joint< BulletJoint >, gazebo::physics::HingeJoint< BulletJoint >, gazebo::physics::BulletScrewJoint, gazebo::physics::BulletHinge2Joint, gazebo::physics::ScrewJoint< BulletJoint >, gazebo::physics::SliderJoint< BulletJoint >, gazebo::physics::BulletBallJoint, gazebo::physics::FixedJoint< BulletJoint >, gazebo::physics::BulletFixedJoint, gazebo::physics::BulletHingeJoint, gazebo::physics::BulletSliderJoint, and gazebo::physics::BulletUniversalJoint.
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Reset the joint.
Reimplemented from gazebo::physics::Joint.
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Set the anchor point.
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletScrewJoint.
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Set the joint damping.
| [in] | _index | Index of the axis to set, currently ignored, to be implemented. |
| [in] | _damping | Damping value for the axis. |
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletSliderJoint.
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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.
| [in] | _index | Index of the axis. |
| [in] | _effort | Force value. |
Implements gazebo::physics::Joint.
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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. |
Implemented in gazebo::physics::BulletScrewJoint, gazebo::physics::BulletHinge2Joint, gazebo::physics::BulletSliderJoint, gazebo::physics::BulletHingeJoint, gazebo::physics::BulletUniversalJoint, gazebo::physics::BulletBallJoint, and gazebo::physics::BulletFixedJoint.
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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.
| [in] | _key | String key. |
| [in] | _index | Index of the axis. |
| [in] | _value | Value of the attribute. |
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BulletSliderJoint, gazebo::physics::BulletHingeJoint, and gazebo::physics::BulletUniversalJoint.
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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.
| [in] | _index | Index of the joint axis (degree of freedom). |
| [in] | _position | Position to set the joint to. unspecified, pure kinematic teleportation. |
Reimplemented from gazebo::physics::Joint.
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Set whether the joint should generate feedback.
| [in] | _enable | True to enable joint feedback. |
Reimplemented from gazebo::physics::Joint.
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Set the joint spring stiffness.
| [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.
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Set the joint spring stiffness.
| [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.
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: Setup joint feedback datatructure.
This is called after Joint::constraint is setup in Init.
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Pointer to Bullet's btDynamicsWorld.
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Pointer to a contraint object in Bullet.