gzBtUniversalConstraint.hh File Reference

#include "gazebo/physics/bullet/bullet_inc.h"

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Functions
const btVector3 &	getAnchor ()
	Get the anchor point in link A reference frame. More...
const btVector3 &	getAnchor2 ()
	Get the anchor point in link B reference frame. More...
btScalar	getAngle1 ()
	Get the value of angle 1 in radians. More...
btScalar	getAngle2 ()
	Get the value of angle 2 in radians. More...
const btVector3 &	getAxis1 ()
	Get the first axis of rotation. More...
const btVector3 &	getAxis2 ()
	Get the second axis of rotation. More...
void	getLowerLimit (btScalar &_ang1min, btScalar &_ang2min)
	Get lower limits. More...
btScalar	getMaxMotorImpulse1 () const
	Get the maximum allowed motor impluse for the first axis of rotation. More...
btScalar	getMaxMotorImpulse2 () const
	Get the maximum allowed motor impluse for the second axis of rotation. More...
void	getUpperLimit (btScalar &_ang1max, btScalar &_ang2max)
	Get upper limits. More...
	gzBtUniversalConstraint (btRigidBody &_rbA, btRigidBody &_rbB, const btVector3 &_anchor, const btVector3 &_axis1, const btVector3 &_axis2)
	Constructor. More...
	gzBtUniversalConstraint (btRigidBody &_rbA, const btVector3 &_anchor, const btVector3 &_axis1, const btVector3 &_axis2)
	Constructor. More...
void	setAxis (const btVector3 &_axis1, const btVector3 &_axis2)
	Set the axis of rotation. More...
void	setLowerLimit (btScalar _ang1min, btScalar _ang2min)
	Set lower limits. More...
void	setMaxMotorImpulse1 (btScalar _i)
	Set the maximum allowed motor impluse for the first axis of rotation. More...
void	setMaxMotorImpulse2 (btScalar _i)
	Set the maximum allowed motor impluse for the second axis of rotation. More...
void	setUpperLimit (btScalar _ang1max, btScalar _ang2max)
	Set upper limits. More...

Variables
btVector3	m_anchor
	Anchor point in world coordinate frame. More...
btVector3	m_axis1
	First axis of rotation. More...
btVector3	m_axis2
	Second axis of rotation. More...
btScalar	maxMotorImpulse [2]
	Maximum motor impulses. More...

Function Documentation

const btVector3& getAnchor

(

)

Get the anchor point in link A reference frame.

Returns

Anchor point in link A's reference frame.

const btVector3& getAnchor2

(

)

Get the anchor point in link B reference frame.

Returns

Anchor point in link B's reference frame.

btScalar getAngle1

(

)

Get the value of angle 1 in radians.

Returns

Angle value of the first axis in radians.

btScalar getAngle2

(

)

Get the value of angle 2 in radians.

Returns

Angle value of the second axis in radians.

const btVector3& getAxis1

(

)

Get the first axis of rotation.

Returns

The first axis of rotation as a vector

const btVector3& getAxis2

(

)

Get the second axis of rotation.

Returns

The second axis of rotation as a vector

void getLowerLimit	(	btScalar &	_ang1min,
		btScalar &	_ang2min
	)

Get lower limits.

Parameters

[out]	_ang1min	Minimum value for angle 1
[out]	_ang2min	Minimum value for angle 2

btScalar getMaxMotorImpulse1

(

)

const

Get the maximum allowed motor impluse for the first axis of rotation.

Returns

Maximum motor impulse for axis 1.

btScalar getMaxMotorImpulse2

(

)

const

Get the maximum allowed motor impluse for the second axis of rotation.

Returns

Maximum motor impulse for axis 2.

void getUpperLimit	(	btScalar &	_ang1max,
		btScalar &	_ang2max
	)

Get upper limits.

Parameters

[out]	_ang1max	Maximum value for angle 1
[out]	_ang2max	Maximum value for angle 2

gzBtUniversalConstraint	(	btRigidBody &	_rbA,
		btRigidBody &	_rbB,
		const btVector3 &	_anchor,
		const btVector3 &	_axis1,
		const btVector3 &	_axis2
	)

Constructor.

Parameters

[in]	_rbA	Rigid body A, also known as the parent link.
[in]	_rbB	Rigid body B, also known as the child link.
[in]	_anchor	The point in world space that constrains the two rigid bodies.
[in]	_axis1	First axis of rotation in world frame.
[in]	_axis2	Second axis of rotation in world frame.

gzBtUniversalConstraint	(	btRigidBody &	_rbA,
		const btVector3 &	_anchor,
		const btVector3 &	_axis1,
		const btVector3 &	_axis2
	)

Constructor.

Parameters

[in]	_rbB	Rigid body B, also known as the child link.
[in]	_anchor	The point in world space that constrains the child link to the world.
[in]	_axis1	First axis of rotation in world frame.
[in]	_axis2	Second axis of rotation in world frame.

void setAxis	(	const btVector3 &	_axis1,
		const btVector3 &	_axis2
	)

Set the axis of rotation.

Parameters

[in]	_axis1	First axis of rotation.
[in]	_axis2	Second axis of rotation.

void setLowerLimit	(	btScalar	_ang1min,
		btScalar	_ang2min
	)

Set lower limits.

Parameters

[in]	_ang1min	Minimum value for angle 1
[in]	_ang2min	Minimum value for angle 2

void setMaxMotorImpulse1

(

btScalar

_i

)

Set the maximum allowed motor impluse for the first axis of rotation.

Parameters

[in]

_i

Maximum motor impulse for axis 1.

void setMaxMotorImpulse2

(

btScalar

_i

)

Set the maximum allowed motor impluse for the second axis of rotation.

Parameters

[in]

_i

Maximum motor impulse for axis 2.

void setUpperLimit	(	btScalar	_ang1max,
		btScalar	_ang2max
	)

Set upper limits.

Parameters

[in]	_ang1max	Maximum value for angle 1
[in]	_ang2max	Maximum value for angle 2

Variable Documentation

btVector3 m_anchor

Anchor point in world coordinate frame.

btVector3 m_axis1

First axis of rotation.

btVector3 m_axis2

Second axis of rotation.

btScalar maxMotorImpulse[2]

Maximum motor impulses.