BulletFixedJoint.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _GAZEBO_BULLETFIXEDJOINT_HH_
18 #define _GAZEBO_BULLETFIXEDJOINT_HH_
19 
20 #include <string>
21 #include "gazebo/math/Vector3.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
36  class GZ_PHYSICS_VISIBLE BulletFixedJoint : public FixedJoint<BulletJoint>
37  {
41  public: BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent);
42 
44  public: virtual ~BulletFixedJoint();
45 
46  // Documentation inherited.
47  protected: virtual void Load(sdf::ElementPtr _sdf);
48 
49  // Documentation inherited.
50  public: 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 SetVelocity(unsigned int _index, double _vel);
58 
59  // Documentation inherited.
60  public: virtual double GetVelocity(unsigned int _index) const;
61 
62  // Documentation inherited.
63  public: virtual void SetUpperLimit(const unsigned int _index,
64  const double _limit);
65 
66  // Documentation inherited.
67  public: virtual void SetLowerLimit(const unsigned int _index,
68  const double _limit);
69 
70  // Documentation inherited.
71  public: virtual ignition::math::Vector3d GlobalAxis(
72  const unsigned int _index) const;
73 
74  // Documentation inherited.
75  public: virtual double PositionImpl(const unsigned int _index) const;
76 
77  // Documentation inherited.
78  protected: virtual void SetForceImpl(unsigned int _index, double _effort);
79 
81  private: btHingeConstraint *bulletFixed;
82  };
84  }
85 }
86 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: BulletFixedJoint.hh:36
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77