BulletHingeJoint.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _GAZEBO_BULLETHINGEJOINT_HH_
18 #define _GAZEBO_BULLETHINGEJOINT_HH_
19 
20 #include <string>
24 #include "gazebo/util/system.hh"
25 
26 class btHingeConstraint;
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GZ_PHYSICS_VISIBLE BulletHingeJoint : public HingeJoint<BulletJoint>
38  {
40  public: BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent);
41 
43  public: virtual ~BulletHingeJoint();
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 ignition::math::Vector3d Anchor(
53  const unsigned int _index) const;
54 
55  // Documentation inherited.
56  public: virtual void SetAxis(const unsigned int _index,
57  const ignition::math::Vector3d &_axis);
58 
59  // Documentation inherited.
60  public: virtual void SetVelocity(unsigned int _index, double _vel);
61 
62  // Documentation inherited.
63  public: virtual double GetVelocity(unsigned int _index) const;
64 
65  // Documentation inherited.
66  public: virtual void SetUpperLimit(const unsigned int _index,
67  const double _limit);
68 
69  // Documentation inherited.
70  public: virtual void SetLowerLimit(const unsigned int _index,
71  const double _limit);
72 
73  // Documentation inherited.
74  public: virtual double UpperLimit(const unsigned int _index) const;
75 
76  // Documentation inherited.
77  public: virtual double LowerLimit(const unsigned int _index) const;
78 
79  // Documentation inherited.
80  public: virtual ignition::math::Vector3d GlobalAxis(
81  const unsigned int _index) const;
82 
83  // Documentation inherited.
84  public: virtual double PositionImpl(const unsigned int _index) const;
85 
86  // Documentation inherited.
87  public: virtual bool SetParam(const std::string &_key,
88  unsigned int _index,
89  const boost::any &_value);
90 
91  // Documentation inherited.
92  public: virtual double GetParam(const std::string &_key,
93  unsigned int _index);
94 
95  // Documentation inherited.
96  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
97 
99  private: btHingeConstraint *bulletHinge;
100 
103  private: double angleOffset;
104 
107  private: ignition::math::Vector3d initialWorldAxis;
108  };
110  }
111 }
112 #endif
A single axis hinge joint.
Definition: HingeJoint.hh:37
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
A single axis hinge joint.
Definition: BulletHingeJoint.hh:37