20 #include <boost/any.hpp>
43 DAMPING_ACTIVE = 0x00000001,
45 JOINT_LIMIT = 0x00000002
56 public:
virtual void Load(sdf::ElementPtr _sdf);
59 public:
virtual void Fini();
62 public:
virtual void Reset();
65 public:
virtual LinkPtr GetJointLink(
unsigned int _index)
const;
68 public:
virtual bool AreConnected(
LinkPtr _one,
LinkPtr _two)
const;
71 public:
virtual void CacheForceTorque();
79 public:
virtual double GetParam(
unsigned int _parameter)
const;
87 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
90 public:
virtual void SetDamping(
unsigned int _index,
double _damping);
93 public:
virtual bool SetPosition(
94 const unsigned int _index,
95 const double _position,
96 const bool _preserveWorldVelocity =
false)
100 public:
virtual void SetStiffness(
unsigned int _index,
101 const double _stiffness);
104 public:
virtual void SetStiffnessDamping(
unsigned int _index,
105 double _stiffness,
double _damping,
double _reference = 0);
111 public:
virtual void Detach();
115 public:
void SetERP(
double _erp);
119 public:
double GetERP();
123 public:
void SetCFM(
double _cfm);
127 public:
double GetCFM();
131 public: dJointFeedback *GetFeedback();
135 public:
bool UsesImplicitSpringDamper();
139 public:
void UseImplicitSpringDamper(
const bool _implicit);
143 public:
void ApplyImplicitStiffnessDamping();
146 public:
void ApplyExplicitStiffnessDamping();
152 return this->stopCFM;
159 return this->stopERP;
171 private:
double ApplyAdaptiveDamping(
unsigned int _index,
172 const double _damping);
180 private:
void KpKdToCFMERP(
const double _dt,
181 const double _kp,
const double _kd,
182 double &_cfm,
double &_erp);
190 private:
void CFMERPToKpKd(
const double _dt,
191 const double _cfm,
const double _erp,
192 double &_kp,
double &_kd);
205 private:
bool stiffnessDampingInitialized;
208 private:
bool useImplicitSpringDamper;
211 public:
virtual void SetUpperLimit(
const unsigned int _index,
212 const double _limit);
215 public:
virtual void SetLowerLimit(
const unsigned int _index,
216 const double _limit);
219 public:
virtual ignition::math::Vector3d LinkForce(
220 const unsigned int _index)
const;
223 public:
virtual ignition::math::Vector3d LinkTorque(
224 const unsigned int _index)
const;
227 public:
virtual void SetAxis(
const unsigned int _index,
228 const ignition::math::Vector3d &_axis);
231 public:
virtual bool SetParam(
const std::string &_key,
233 const boost::any &_value);
236 public:
virtual double GetParam(
const std::string &_key,
237 unsigned int _index);
240 public:
virtual void SetProvideFeedback(
bool _enable);
243 public:
virtual JointWrench GetForceTorque(
unsigned int _index);
246 public:
virtual void SetForce(
unsigned int _index,
double _force);
249 public:
virtual double GetForce(
unsigned int _index);
252 public:
virtual void ApplyStiffnessDamping();
263 protected:
virtual void SetForceImpl(
264 unsigned int _index,
double _force) = 0;
269 private:
void SaveForce(
unsigned int _index,
double _force);
275 private: dJointFeedback *feedback;
278 private:
double stopCFM;
281 private:
double stopERP;
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
double GetStopERP()
Get access to stopERP.
Definition: ODEJoint.hh:157
dJointID jointId
This is our ODE ID.
Definition: ODEJoint.hh:272
double GetStopCFM()
Get access to stopCFM.
Definition: ODEJoint.hh:150
CFMMode
internal variables used for implicit damping
Definition: ODEJoint.hh:38
#define MAX_JOINT_AXIS
maximum number of axis per joint anticipated.
Definition: Joint.hh:39
Base class for all joints.
Definition: Joint.hh:50
Wrench information from a joint.
Definition: JointWrench.hh:40
ODE joint interface.
Definition: ODEJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44