BulletHingeJoint.hh
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1 /*
2  * Copyright (C) 2012-2015 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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13  * See the License for the specific language governing permissions and
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17 #ifndef _GAZEBO_BULLETHINGEJOINT_HH_
18 #define _GAZEBO_BULLETHINGEJOINT_HH_
19 
20 #include <string>
21 #include "gazebo/math/Angle.hh"
22 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 class btHingeConstraint;
29 
30 namespace gazebo
31 {
32  namespace physics
33  {
37 
39  class GZ_PHYSICS_VISIBLE BulletHingeJoint : public HingeJoint<BulletJoint>
40  {
42  public: BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent);
43 
45  public: virtual ~BulletHingeJoint();
46 
47  // Documentation inherited.
48  protected: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual void Init();
52 
53  // Documentation inherited.
54  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
55 
56  // Documentation inherited.
57  public: virtual void SetAxis(unsigned int _index,
58  const math::Vector3 &_axis);
59 
60  // Documentation inherited.
61  public: virtual void SetVelocity(unsigned int _index, double _vel);
62 
63  // Documentation inherited.
64  public: virtual double GetVelocity(unsigned int _index) const;
65 
66  // Documentation inherited.
67  public: virtual void SetMaxForce(unsigned int _index, double _t);
68 
69  // Documentation inherited.
70  public: virtual double GetMaxForce(unsigned int _index);
71 
72  // Documentation inherited.
73  public: virtual bool SetHighStop(unsigned int _index,
74  const math::Angle &_angle);
75 
76  // Documentation inherited.
77  public: virtual bool SetLowStop(unsigned int _index,
78  const math::Angle &_angle);
79 
80  // Documentation inherited.
81  public: virtual math::Angle GetHighStop(unsigned int _index);
82 
83  // Documentation inherited.
84  public: virtual math::Angle GetLowStop(unsigned int _index);
85 
86  // Documentation inherited.
87  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
88 
89  // Documentation inherited.
90  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
91 
92  // Documentation inherited.
93  public: virtual bool SetParam(const std::string &_key,
94  unsigned int _index,
95  const boost::any &_value);
96 
97  // Documentation inherited.
98  public: virtual double GetParam(const std::string &_key,
99  unsigned int _index);
100 
101  // Documentation inherited.
102  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
103 
105  private: btHingeConstraint *bulletHinge;
106 
109  private: double angleOffset;
110 
113  private: math::Vector3 initialWorldAxis;
114  };
116  }
117 }
118 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:68
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:318
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A single axis hinge joint.
Definition: HingeJoint.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:53
A single axis hinge joint.
Definition: BulletHingeJoint.hh:39