BulletHingeJoint.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
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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,
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef _GAZEBO_BULLETHINGEJOINT_HH_
18 #define _GAZEBO_BULLETHINGEJOINT_HH_
19 
20 #include <string>
21 #include "gazebo/math/Vector3.hh"
25 #include "gazebo/util/system.hh"
26 
27 class btHingeConstraint;
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
36 
38  class GZ_PHYSICS_VISIBLE BulletHingeJoint : public HingeJoint<BulletJoint>
39  {
41  public: BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent);
42 
44  public: virtual ~BulletHingeJoint();
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 ignition::math::Vector3d Anchor(
54  const unsigned int _index) const;
55 
56  // Documentation inherited.
57  public: virtual void SetAxis(const unsigned int _index,
58  const ignition::math::Vector3d &_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 SetUpperLimit(const unsigned int _index,
68  const double _limit);
69 
70  // Documentation inherited.
71  public: virtual void SetLowerLimit(const unsigned int _index,
72  const double _limit);
73 
74  // Documentation inherited.
75  public: virtual double UpperLimit(const unsigned int _index) const;
76 
77  // Documentation inherited.
78  public: virtual double LowerLimit(const unsigned int _index) const;
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: btHingeConstraint *bulletHinge;
101 
104  private: double angleOffset;
105 
108  private: ignition::math::Vector3d initialWorldAxis;
109  };
111  }
112 }
113 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A single axis hinge joint.
Definition: HingeJoint.hh:37
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
A single axis hinge joint.
Definition: BulletHingeJoint.hh:38