BulletFixedJoint.hh
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2  * Copyright (C) 2015 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>
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE BulletFixedJoint : public FixedJoint<BulletJoint>
36  {
40  public: BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent);
41 
43  public: virtual ~BulletFixedJoint();
44 
45  // Documentation inherited.
46  protected: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: virtual void Init();
50 
51  // Documentation inherited.
52  public: virtual void SetAxis(const unsigned int _index,
53  const ignition::math::Vector3d &_axis);
54 
55  // Documentation inherited.
56  public: virtual void SetVelocity(unsigned int _index, double _vel);
57 
58  // Documentation inherited.
59  public: virtual double GetVelocity(unsigned int _index) const;
60 
61  // Documentation inherited.
62  public: virtual void SetUpperLimit(const unsigned int _index,
63  const double _limit);
64 
65  // Documentation inherited.
66  public: virtual void SetLowerLimit(const unsigned int _index,
67  const double _limit);
68 
69  // Documentation inherited.
70  public: virtual ignition::math::Vector3d GlobalAxis(
71  const unsigned int _index) const;
72 
73  // Documentation inherited.
74  public: virtual double PositionImpl(const unsigned int _index) const;
75 
76  // Documentation inherited.
77  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
78 
80  private: btHingeConstraint *bulletFixed;
81  };
83  }
84 }
85 #endif
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: BulletFixedJoint.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77