17 #ifndef _GAZEBO_BULLETSLIDERJOINT_HH_
18 #define _GAZEBO_BULLETSLIDERJOINT_HH_
26 class btSliderConstraint;
46 protected:
virtual void Load(sdf::ElementPtr _sdf);
49 protected:
virtual void Init();
52 public:
virtual void SetAxis(
const unsigned int _index,
53 const ignition::math::Vector3d &_axis);
56 public:
virtual void SetDamping(
unsigned int _index,
57 const double _damping);
60 public:
virtual void SetUpperLimit(
const unsigned int _index,
64 public:
virtual void SetLowerLimit(
const unsigned int _index,
68 public:
virtual double UpperLimit(
const unsigned int _index)
const;
71 public:
virtual double LowerLimit(
const unsigned int _index)
const;
74 public:
virtual double GetVelocity(
unsigned int _index)
const;
77 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
80 public:
virtual ignition::math::Vector3d GlobalAxis(
81 const unsigned int _index)
const;
84 public:
virtual double PositionImpl(
const unsigned int _index)
const;
87 public:
virtual bool SetParam(
const std::string &_key,
89 const boost::any &_value);
92 public:
virtual double GetParam(
const std::string &_key,
96 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
99 private: btSliderConstraint *bulletSlider;
103 private: ignition::math::Vector3d initialWorldAxis;
A slider joint.
Definition: SliderJoint.hh:38
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A slider joint.
Definition: BulletSliderJoint.hh:37
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77