BulletSliderJoint.hh
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1 /*
2  * Copyright (C) 2012 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _GAZEBO_BULLETSLIDERJOINT_HH_
18 #define _GAZEBO_BULLETSLIDERJOINT_HH_
19 
20 #include <string>
21 #include "gazebo/math/Vector3.hh"
25 #include "gazebo/util/system.hh"
26 
27 class btSliderConstraint;
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class GZ_PHYSICS_VISIBLE BulletSliderJoint : public SliderJoint<BulletJoint>
39  {
41  public: BulletSliderJoint(btDynamicsWorld *world, BasePtr _parent);
42 
44  public: virtual ~BulletSliderJoint();
45 
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  protected: virtual void Init();
51 
52  // Documentation inherited.
53  public: virtual void SetAxis(const unsigned int _index,
54  const ignition::math::Vector3d &_axis);
55 
56  // Documentation inherited.
57  public: virtual void SetDamping(unsigned int _index,
58  const double _damping);
59 
60  // Documentation inherited.
61  public: virtual void SetUpperLimit(const unsigned int _index,
62  const double _limit);
63 
64  // Documentation inherited.
65  public: virtual void SetLowerLimit(const unsigned int _index,
66  const double _limit);
67 
68  // Documentation inherited.
69  public: virtual double UpperLimit(const unsigned int _index) const;
70 
71  // Documentation inherited.
72  public: virtual double LowerLimit(const unsigned int _index) const;
73 
74  // Documentation inherited.
75  public: virtual double GetVelocity(unsigned int _index) const;
76 
77  // Documentation inherited.
78  public: virtual void SetVelocity(unsigned int _index, double _angle);
79 
80  // Documentation inherited.
81  public: virtual ignition::math::Vector3d GlobalAxis(
82  const unsigned int _index) const;
83 
84  // Documentation inherited.
85  public: virtual double PositionImpl(const unsigned int _index) const;
86 
87  // Documentation inherited.
88  public: virtual bool SetParam(const std::string &_key,
89  unsigned int _index,
90  const boost::any &_value);
91 
92  // Documentation inherited.
93  public: virtual double GetParam(const std::string &_key,
94  unsigned int _index);
95 
96  // Documentation inherited.
97  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
98 
100  private: btSliderConstraint *bulletSlider;
101 
104  private: ignition::math::Vector3d initialWorldAxis;
105  };
106 
108  }
109 }
110 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A slider joint.
Definition: SliderJoint.hh:38
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A slider joint.
Definition: BulletSliderJoint.hh:38
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77