ODE joint interface. More...
#include <ODEJoint.hh>
Public Member Functions | |
| ODEJoint (BasePtr _parent) | |
| Constructor. | |
| virtual | ~ODEJoint () |
| Destructor. | |
| virtual bool | AreConnected (LinkPtr _one, LinkPtr _two) const |
| Determines of the two bodies are connected by a joint. | |
| virtual void | Attach (LinkPtr parent, LinkPtr child) |
| Attach the two bodies with this joint. | |
| virtual void | Detach () |
| Detach this joint from all bodies. | |
| double | GetCFM () |
| Get the ERP of this joint. | |
| double | GetERP () |
| Get the ERP of this joint. | |
| dJointFeedback * | GetFeedback () |
| Get the feedback data structure for this joint, if set. | |
| virtual math::Angle | GetHighStop (int index) |
| Get the high stop of an axis(index). | |
| virtual LinkPtr | GetJointLink (int _index) const |
| Get the link to which the joint is attached according the _index. | |
| virtual math::Vector3 | GetLinkForce (unsigned int index) const |
| Get the force the joint applies to the first link. | |
| virtual math::Vector3 | GetLinkTorque (unsigned int index) const |
| Get the torque the joint applies to the first link. | |
| virtual math::Angle | GetLowStop (int index) |
| Get the low stop of an axis(index). | |
| virtual double | GetParam (int _parameter) const |
| The default function does nothing. | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load ODEJoint. | |
| virtual void | Reset () |
| Reset the joint. | |
| virtual void | SetAttribute (Attribute, int index, double value) |
| Set a parameter for the joint. | |
| void | SetCFM (double newCFM) |
| Set the CFM of this joint. | |
| void | SetERP (double newERP) |
| Set the ERP of this joint. | |
| virtual void | SetHighStop (int _index, const math::Angle &_angle) |
| Set the high stop of an axis(index). | |
| virtual void | SetLowStop (int _index, const math::Angle &_angle) |
| Set the low stop of an axis(index). | |
| virtual void | SetParam (int _parameter, double _value) |
| By default this does nothing. | |
 Public Member Functions inherited from gazebo::physics::Joint | |
| Joint (BasePtr _parent) | |
| Constructor. | |
| virtual | ~Joint () |
| Destructor. | |
| template<typename T > | |
| event::ConnectionPtr | ConnectJointUpdate (T _subscriber) |
| Connect a boost::slot the the joint update signal. | |
| void | DisconnectJointUpdate (event::ConnectionPtr &_conn) |
| Disconnect a boost::slot the the joint update signal. | |
| void | FillJointMsg (msgs::Joint &_msg) GAZEBO_DEPRECATED |
| DEPRECATED. | |
| void | FillMsg (msgs::Joint &_msg) |
| Fill a joint message. | |
| virtual math::Vector3 | GetAnchor (int _index) const =0 |
| Get the anchor point. | |
| math::Angle | GetAngle (int _index) const |
| Get the angle of rotation of an axis(index) | |
| LinkPtr | GetChild () const |
| Get the child link. | |
| virtual double | GetForce (int _index) |
| virtual math::Vector3 | GetGlobalAxis (int _index) const =0 |
| Get the axis of rotation in global cooridnate frame. | |
| math::Vector3 | GetLocalAxis (int _index) const |
| Get the axis of rotation. | |
| virtual double | GetMaxForce (int _index)=0 |
| Get the max allowed force of an axis(index). | |
| LinkPtr | GetParent () const |
| Get the parent link. | |
| JointState | GetState () |
| Get the joint state. | |
| virtual double | GetVelocity (int _index) const =0 |
| Get the rotation rate of an axis(index) | |
| virtual void | Init () |
| Initialize a joint. | |
| void | Load (LinkPtr _parent, LinkPtr _child, const math::Pose &_pose) |
| Set pose, parent and child links of a physics::Joint. | |
| virtual void | SetAnchor (int _index, const math::Vector3 &_anchor)=0 |
| Set the anchor point. | |
| void | SetAngle (int _index, math::Angle _angle) |
| If the Joint is static, Gazebo stores the state of this Joint as a scalar inside the Joint class, so this call will NOT move the joint dynamically for a static Model. | |
| virtual void | SetAxis (int _index, const math::Vector3 &_axis)=0 |
| Set the axis of rotation. | |
| virtual void | SetDamping (int _index, double _damping)=0 |
| Set the joint damping. | |
| virtual void | SetForce (int _index, double _force) |
| Set the force applied to this physics::Joint. | |
| virtual void | SetMaxForce (int _index, double _force)=0 |
| Set the max allowed force of an axis(index). | |
| void | SetModel (ModelPtr _model) |
| Set the model this joint belongs too. | |
| void | SetState (const JointState &_state) |
| Set the joint state. | |
| virtual void | SetVelocity (int _index, double _vel)=0 |
| Set the velocity of an axis(index). | |
| void | Update () |
| Update the joint. | |
| virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
| Update the parameters using new sdf values. | |
| Public Member Functions inherited from gazebo::physics::Base | |
| Base (BasePtr parent) | |
| Constructor. | |
| virtual | ~Base () |
| Destructor. | |
| void | AddChild (BasePtr _child) |
| Add a child to this entity. | |
| void | AddType (EntityType _type) |
| Add a type specifier. | |
| virtual void | Fini () |
| Finialize the object. | |
| BasePtr | GetById (unsigned int _id) const |
| Get a child or self by id. | |
| BasePtr | GetByName (const std::string &_name) |
| Get by name. | |
| BasePtr | GetChild (unsigned int _i) const |
| Get a child by index. | |
| BasePtr | GetChild (const std::string &_name) |
| Get a child by name. | |
| unsigned int | GetChildCount () const |
| Get the number of children. | |
| unsigned int | GetId () const |
| Return the ID of this entity. | |
| std::string | GetName () const |
| Return the name of the entity. | |
| BasePtr | GetParent () const |
| Get the parent. | |
| int | GetParentId () const |
| Return the ID of the parent. | |
| bool | GetSaveable () const |
| Get whether the object should be "saved", when the user selects to save the world to xml. | |
| std::string | GetScopedName () const |
| Return the name of this entity with the model scope world::model1::...::modelN::entityName. | |
| virtual const sdf::ElementPtr | GetSDF () |
| Get the SDF values for the object. | |
| unsigned int | GetType () const |
| Get the full type definition. | |
| const WorldPtr & | GetWorld () const |
| Get the World this object is in. | |
| bool | HasType (const EntityType &_t) const |
| Returns true if this object's type definition has the given type. | |
| bool | IsSelected () const |
| True if the entity is selected by the user. | |
| bool | operator== (const Base &_ent) const |
| Returns true if the entities are the same. | |
| void | Print (const std::string &_prefix) |
| Print this object to screen via gzmsg. | |
| virtual void | RemoveChild (unsigned int _id) |
| Remove a child from this entity. | |
| void | RemoveChild (const std::string &_name) |
| Remove a child by name. | |
| void | RemoveChildren () |
| Remove all children. | |
| virtual void | Reset (Base::EntityType _resetType) |
| Calls recursive Reset on one of the Base::EntityType's. | |
| virtual void | SetName (const std::string &_name) |
| Set the name of the entity. | |
| void | SetParent (BasePtr _parent) |
| Set the parent. | |
| void | SetSaveable (bool _v) |
| Set whether the object should be "saved", when the user selects to save the world to xml. | |
| virtual bool | SetSelected (bool _show) |
| Set whether this entity has been selected by the user through the gui. | |
| void | SetWorld (const WorldPtr &_newWorld) |
| Set the world this object belongs to. | |
Protected Attributes | |
| dJointID | jointId |
| This is our id. | |
| Protected Attributes inherited from gazebo::physics::Joint | |
| LinkPtr | anchorLink |
| Anchor link. | |
| math::Vector3 | anchorPos |
| Anchor pose. | |
| LinkPtr | childLink |
| The first link this joint connects to. | |
| double | damping_coefficient |
| joint damping_coefficient | |
| ModelPtr | model |
| Pointer to the parent model. | |
| LinkPtr | parentLink |
| The second link this joint connects to. | |
| Protected Attributes inherited from gazebo::physics::Base | |
| Base_V | children |
| Children of this entity. | |
| Base_V::iterator | childrenEnd |
| End of the children vector. | |
| BasePtr | parent |
| Parent of this entity. | |
| sdf::ElementPtr | sdf |
| The SDF values for this object. | |
| WorldPtr | world |
| Pointer to the world. | |
Additional Inherited Members | |
| Public Types inherited from gazebo::physics::Joint | |
| enum | Attribute { FUDGE_FACTOR, SUSPENSION_ERP, SUSPENSION_CFM, STOP_ERP, STOP_CFM, ERP, CFM, FMAX, VEL, HI_STOP, LO_STOP } |
| Joint attribute types. More... | |
| Protected Member Functions inherited from gazebo::physics::Joint | |
| virtual math::Angle | GetAngleImpl (int _index) const =0 |
| Get the angle of an axis helper function. | |
ODE joint interface.
| gazebo::physics::ODEJoint::ODEJoint | ( | BasePtr | _parent | ) |
Constructor.
|
virtual |
Destructor.
Determines of the two bodies are connected by a joint.
Implements gazebo::physics::Joint.
Attach the two bodies with this joint.
Reimplemented from gazebo::physics::Joint.
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virtual |
Detach this joint from all bodies.
Reimplemented from gazebo::physics::Joint.
| double gazebo::physics::ODEJoint::GetCFM | ( | ) |
Get the ERP of this joint.
| double gazebo::physics::ODEJoint::GetERP | ( | ) |
Get the ERP of this joint.
| dJointFeedback* gazebo::physics::ODEJoint::GetFeedback | ( | ) |
Get the feedback data structure for this joint, if set.
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virtual |
Get the high stop of an axis(index).
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BallJoint< ODEJoint >.
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virtual |
Get the link to which the joint is attached according the _index.
Implements gazebo::physics::Joint.
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virtual |
Get the force the joint applies to the first link.
| index | The index of the link(0 or 1) |
Implements gazebo::physics::Joint.
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virtual |
Get the torque the joint applies to the first link.
| index | The index of the link(0 or 1) |
Implements gazebo::physics::Joint.
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virtual |
Get the low stop of an axis(index).
Implements gazebo::physics::Joint.
Reimplemented in gazebo::physics::BallJoint< ODEJoint >.
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virtual |
The default function does nothing.
This should be overriden in the child classes where appropriate
Reimplemented in gazebo::physics::ODEHingeJoint, gazebo::physics::ODEScrewJoint, gazebo::physics::ODEHinge2Joint, and gazebo::physics::ODESliderJoint.
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virtual |
Load ODEJoint.
Reimplemented from gazebo::physics::Joint.
Reimplemented in gazebo::physics::BallJoint< ODEJoint >, gazebo::physics::ScrewJoint< ODEJoint >, gazebo::physics::ODEScrewJoint, gazebo::physics::ODEHinge2Joint, gazebo::physics::ODEHingeJoint, gazebo::physics::SliderJoint< ODEJoint >, gazebo::physics::Hinge2Joint< ODEJoint >, gazebo::physics::HingeJoint< ODEJoint >, gazebo::physics::UniversalJoint< ODEJoint >, and gazebo::physics::ODESliderJoint.
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virtual |
Reset the joint.
Reimplemented from gazebo::physics::Joint.
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virtual |
Set a parameter for the joint.
Implements gazebo::physics::Joint.
| void gazebo::physics::ODEJoint::SetCFM | ( | double | newCFM | ) |
Set the CFM of this joint.
| void gazebo::physics::ODEJoint::SetERP | ( | double | newERP | ) |
Set the ERP of this joint.
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virtual |
Set the high stop of an axis(index).
Implements gazebo::physics::Joint.
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virtual |
Set the low stop of an axis(index).
Implements gazebo::physics::Joint.
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virtual |
By default this does nothing.
It should be overridden in child classes where appropriate
Reimplemented in gazebo::physics::ODEHingeJoint, gazebo::physics::ODEScrewJoint, gazebo::physics::ODEHinge2Joint, gazebo::physics::ODESliderJoint, and gazebo::physics::ODEUniversalJoint.
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protected |
This is our id.