BulletTypes Class Reference

A set of functions for converting between the math types used by gazebo and bullet. More...

#include <BulletTypes.hh>

Static Public Member Functions

static math::Pose ConvertPose (const btTransform &_bt)
 Convert a bullet transform to a gazebo pose. More...
 
static btTransform ConvertPose (const math::Pose &_pose)
 Convert a gazebo pose to a bullet transform. More...
 
static math::Vector3 ConvertVector3 (const btVector3 &_bt)
 Convert a bullet btVector3 to a gazebo Vector3. More...
 
static btVector3 ConvertVector3 (const math::Vector3 &_vec)
 Convert a gazebo Vector3 to a bullet btVector3. More...
 
static math::Vector4 ConvertVector4 (const btVector4 &_bt)
 Convert a bullet btVector4 to a gazebo Vector4. More...
 
static btVector4 ConvertVector4 (const math::Vector4 &_vec)
 Convert a gazebo Vector4 to a bullet btVector4. More...
 

Detailed Description

A set of functions for converting between the math types used by gazebo and bullet.

Member Function Documentation

static math::Pose ConvertPose ( const btTransform &  _bt)
inlinestatic

Convert a bullet transform to a gazebo pose.

Parameters
[in]_btBullet pose (btTransform).
Returns
Gazebo pose.

References BulletTypes::ConvertVector3(), Pose::pos, Pose::rot, Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

Referenced by BulletSphereShape::SetRadius(), BulletBoxShape::SetSize(), and BulletCylinderShape::SetSize().

static btTransform ConvertPose ( const math::Pose _pose)
inlinestatic

Convert a gazebo pose to a bullet transform.

Parameters
[in]_poseGazebo pose.
Returns
Bullet pose (btTransform).

References BulletTypes::ConvertVector3(), Pose::pos, Pose::rot, Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

static math::Vector3 ConvertVector3 ( const btVector3 &  _bt)
inlinestatic

Convert a bullet btVector3 to a gazebo Vector3.

Parameters
[in]_btBullet Vector3.
Returns
Gazebo Vector3.

Referenced by BulletTypes::ConvertPose().

static btVector3 ConvertVector3 ( const math::Vector3 _vec)
inlinestatic

Convert a gazebo Vector3 to a bullet btVector3.

Parameters
[in]_vecGazebo Vector3.
Returns
Bullet Vector3.

References Vector3::x, Vector3::y, and Vector3::z.

static math::Vector4 ConvertVector4 ( const btVector4 &  _bt)
inlinestatic

Convert a bullet btVector4 to a gazebo Vector4.

Parameters
[in]_btBullet Vector4.
Returns
Gazebo Vector4.
static btVector4 ConvertVector4 ( const math::Vector4 _vec)
inlinestatic

Convert a gazebo Vector4 to a bullet btVector4.

Parameters
[in]_vecGazebo Vector4.
Returns
Bullet Vector4.

References Vector4::w, Vector4::x, Vector4::y, and Vector4::z.


The documentation for this class was generated from the following file: