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22 #ifndef _BULLETHINGE2JOINT_HH_
23 #define _BULLETHINGE2JOINT_HH_
30 class btHinge2Constraint;
50 protected:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
virtual void Init();
56 public:
virtual ignition::math::Vector3d Anchor(
57 const unsigned int _index)
const;
60 public:
virtual void SetAxis(
const unsigned int _index,
61 const ignition::math::Vector3d &_axis);
64 public:
double GetVelocity(
unsigned int _index)
const;
67 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
70 public:
virtual void SetUpperLimit(
const unsigned int _index,
74 public:
virtual void SetLowerLimit(
const unsigned int _index,
78 public:
virtual double UpperLimit(
const unsigned int _index)
const;
81 public:
virtual double LowerLimit(
const unsigned int _index)
const;
84 public:
virtual ignition::math::Vector3d GlobalAxis(
85 const unsigned int _index)
const;
88 public:
virtual double PositionImpl(
const unsigned int _index)
const;
91 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
94 private: btHinge2Constraint *bulletHinge2;
98 private:
double angleOffset[2];
102 private: ignition::math::Vector3d initialWorldAxis[2];
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
Forward declarations for the common classes.
Definition: Animation.hh:26
double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
BulletHinge2Joint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ~BulletHinge2Joint()
Destructor.
virtual void Init()
Initialize a joint.
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
A two axis hinge joint.
Definition: BulletHinge2Joint.hh:41
WorldPtr world
Pointer to the world.
Definition: Base.hh:354