17 #ifndef GAZEBO_PHYSICS_DART_DARTLINK_HH_
18 #define GAZEBO_PHYSICS_DART_DARTLINK_HH_
33 class DARTLinkPrivate;
48 public:
virtual void Load(sdf::ElementPtr _ptr);
51 public:
virtual void Init();
54 public:
virtual void Fini();
57 public:
virtual void OnPoseChange();
60 public:
virtual void SetEnabled(
bool _enable)
const;
63 public:
virtual bool GetEnabled()
const;
66 public:
virtual void SetLinearVel(
const ignition::math::Vector3d &_vel);
69 public:
virtual void SetAngularVel(
const ignition::math::Vector3d &_vel);
72 public:
virtual void SetForce(
const ignition::math::Vector3d &_force);
75 public:
virtual void SetTorque(
const ignition::math::Vector3d &_torque);
78 public:
virtual void AddForce(
const ignition::math::Vector3d &_force);
81 public:
virtual void AddRelativeForce(
82 const ignition::math::Vector3d &_force);
85 public:
virtual void AddForceAtWorldPosition(
86 const ignition::math::Vector3d &_force,
87 const ignition::math::Vector3d &_pos);
90 public:
virtual void AddForceAtRelativePosition(
91 const ignition::math::Vector3d &_force,
92 const ignition::math::Vector3d &_relpos);
95 public:
virtual void AddLinkForce(
96 const ignition::math::Vector3d &_force,
97 const ignition::math::Vector3d &_offset =
98 ignition::math::Vector3d::Zero);
101 public:
virtual void AddTorque(
const ignition::math::Vector3d &_torque);
104 public:
virtual void AddRelativeTorque(
105 const ignition::math::Vector3d &_torque);
108 public:
virtual ignition::math::Vector3d WorldLinearVel(
109 const ignition::math::Vector3d &_offset =
110 ignition::math::Vector3d::Zero)
const;
113 public:
virtual ignition::math::Vector3d WorldLinearVel(
114 const ignition::math::Vector3d &_offset,
115 const ignition::math::Quaterniond &_q)
const;
118 public:
virtual ignition::math::Vector3d WorldCoGLinearVel()
const;
121 public:
virtual ignition::math::Vector3d WorldAngularVel()
const;
124 public:
virtual ignition::math::Vector3d WorldForce()
const;
127 public:
virtual ignition::math::Vector3d WorldTorque()
const;
130 public:
virtual void SetGravityMode(
bool _mode);
133 public:
virtual bool GetGravityMode()
const;
136 public:
virtual void SetSelfCollide(
bool _collide);
139 public:
virtual void SetLinearDamping(
double _damping);
142 public:
virtual void SetAngularDamping(
double _damping);
145 public:
virtual void SetKinematic(
const bool &_state);
148 public:
virtual bool GetKinematic()
const;
151 public:
virtual void SetAutoDisable(
bool _disable);
154 public:
virtual void SetLinkStatic(
bool _static);
157 public:
virtual void UpdateMass();
162 public:
void updateDirtyPoseFromDARTTransformation();
181 public:
void SetDARTBodyNode(dart::dynamics::BodyNode *_dtBodyNode);
185 public:
void AddSlaveBodyNode(dart::dynamics::BodyNode *_dtBodyNode);
189 public: dart::dynamics::BodyNode *DARTBodyNode()
const;
193 public:
void SetDARTParentJoint(
DARTJointPtr _dartParentJoint);
197 public:
void AddDARTChildJoint(
DARTJointPtr _dartChildJoint);
201 public:
bool IsSoftBody()
const;
205 private: DARTLinkPrivate *dataPtr;
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
boost::shared_ptr< DARTJoint > DARTJointPtr
Definition: DARTTypes.hh:48
boost::shared_ptr< DARTModel > DARTModelPtr
Definition: DARTTypes.hh:46
Link class defines a rigid body entity, containing information on inertia, visual and collision prope...
Definition: Link.hh:58
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:43
std::shared_ptr< dart::dynamics::BodyNode::Properties > DARTBodyNodePropPtr
Definition: DARTTypes.hh:54
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
DART Link class.
Definition: DARTLink.hh:39