BulletHinge2Joint.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _BULLETHINGE2JOINT_HH_
23 #define _BULLETHINGE2JOINT_HH_
24 
28 #include "gazebo/util/system.hh"
29 
30 class btHinge2Constraint;
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
39 
41  class GZ_PHYSICS_VISIBLE BulletHinge2Joint : public Hinge2Joint<BulletJoint>
42  {
44  public: BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent);
45 
47  public: virtual ~BulletHinge2Joint();
48 
49  // Documentation inherited.
50  protected: virtual void Load(sdf::ElementPtr _sdf);
51 
52  // Documentation inherited.
53  public: virtual void Init();
54 
55  // Documentation inherited.
56  public: virtual ignition::math::Vector3d Anchor(
57  const unsigned int _index) const;
58 
59  // Documentation inherited.
60  public: virtual void SetAxis(const unsigned int _index,
61  const ignition::math::Vector3d &_axis);
62 
63  // Documentation inherited.
64  public: double GetVelocity(unsigned int _index) const;
65 
66  // Documentation inherited.
67  public: virtual void SetVelocity(unsigned int _index, double _angle);
68 
69  // Documentation inherited.
70  public: virtual void SetUpperLimit(const unsigned int _index,
71  const double _limit);
72 
73  // Documentation inherited.
74  public: virtual void SetLowerLimit(const unsigned int _index,
75  const double _limit);
76 
77  // Documentation inherited.
78  public: virtual double UpperLimit(const unsigned int _index) const;
79 
80  // Documentation inherited.
81  public: virtual double LowerLimit(const unsigned int _index) const;
82 
83  // Documentation inherited.
84  public: virtual ignition::math::Vector3d GlobalAxis(
85  const unsigned int _index) const;
86 
87  // Documentation inherited.
88  public: virtual double PositionImpl(const unsigned int _index) const;
89 
90  // Documentation inherited.
91  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
92 
94  private: btHinge2Constraint *bulletHinge2;
95 
98  private: double angleOffset[2];
99 
102  private: ignition::math::Vector3d initialWorldAxis[2];
103  };
104 
106  }
107 }
108 #endif
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
A two axis hinge joint.
Definition: BulletHinge2Joint.hh:41
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77