SimbodyJoint.hh
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1 /*
2  * Copyright (C) 2012-2016 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.
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _SIMBODY_JOINT_HH_
19 #define _SIMBODY_JOINT_HH_
20 
21 #include <boost/any.hpp>
22 #include <string>
23 
25 #include "gazebo/physics/Joint.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
35 
37  class GZ_PHYSICS_VISIBLE SimbodyJoint : public Joint
38  {
40  public: SimbodyJoint(BasePtr _parent);
41 
43  public: virtual ~SimbodyJoint();
44 
45  // Documentation inherited.
46  public: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: virtual void Reset();
50 
51  // Documentation inherited.
52  public: virtual LinkPtr GetJointLink(unsigned int _index) const;
53 
54  // Documentation inherited.
55  public: virtual bool AreConnected(LinkPtr _one, LinkPtr _two) const;
56 
57  // Documentation inherited.
58  public: virtual void Detach();
59 
60  // Documentation inherited.
61  public: virtual void SetAnchor(unsigned int _index,
62  const gazebo::math::Vector3 &_anchor);
63 
64  // Documentation inherited.
65  public: virtual void SetDamping(unsigned int _index,
66  const double _damping);
67 
68  // Documentation inherited.
69  public: virtual void SetStiffness(unsigned int _index,
70  const double _stiffness);
71 
72  // Documentation inherited.
73  public: virtual void SetStiffnessDamping(unsigned int _index,
74  double _stiffness, double _damping, double _reference = 0);
75 
76  // Documentation inherited.
77  public: virtual math::Vector3 GetAnchor(unsigned int _index) const;
78 
79  // Documentation inherited.
80  public: virtual math::Vector3 GetLinkForce(unsigned int _index) const;
81 
82  // Documentation inherited.
83  public: virtual math::Vector3 GetLinkTorque(unsigned int _index) const;
84 
85  // Documentation inherited.
86  public: virtual bool SetParam(const std::string &_key,
87  unsigned int _index,
88  const boost::any &_value);
89 
90  // Documentation inherited.
91  public: virtual double GetParam(const std::string &_key,
92  unsigned int _index);
93 
94  // Save current Simbody State
95  public: virtual void SaveSimbodyState(const SimTK::State &_state);
96 
97  // Restore saved Simbody State
98  public: virtual void RestoreSimbodyState(SimTK::State &_state);
99 
100  // Documentation inherited.
101  public: virtual void SetForce(unsigned int _index, double _force);
102 
103  // Documentation inherited.
104  public: virtual double GetForce(unsigned int _index);
105 
106  // Documentation inherited.
107  public: virtual void SetAxis(unsigned int _index,
108  const math::Vector3 &_axis);
109 
110  // Documentation inherited.
111  public: virtual JointWrench GetForceTorque(unsigned int _index);
112 
123  protected: virtual void SetForceImpl(unsigned int _index,
124  double _force) = 0;
125 
129  private: void SaveForce(unsigned int _index, double _force);
130 
131  // Documentation inherited.
132  public: virtual void CacheForceTorque();
133 
137  public: bool mustBreakLoopHere;
138 
141  public: SimTK::Transform xPA;
142 
144  public: SimTK::Transform xCB;
145 
147  public: SimTK::Transform defxAB;
148 
154  public: SimTK::Force::MobilityLinearSpring spring[MAX_JOINT_AXIS];
155 
160  public: SimTK::Force::MobilityLinearDamper damper[MAX_JOINT_AXIS];
161 
167  public: SimTK::Force::MobilityLinearStop limitForce[MAX_JOINT_AXIS];
168 
174  public: SimTK::MobilizedBody mobod;
175 
178  public: bool isReversed;
179 
185  public: SimTK::Constraint constraint;
186 
187  // Keeps track if simbody physics has been initialized
188  public: bool physicsInitialized;
189 
190  // Documentation inherited.
191  public: virtual bool SetHighStop(unsigned int _index,
192  const math::Angle &_angle);
193 
194  // Documentation inherited.
195  public: virtual bool SetLowStop(unsigned int _index,
196  const math::Angle &_angle);
197 
198  // Documentation inherited.
199  public: virtual math::Angle GetHighStop(unsigned int _index);
200 
201  // Documentation inherited.
202  public: virtual math::Angle GetLowStop(unsigned int _index);
203 
205  protected: SimTK::MultibodySystem *world;
206 
209 
218  private: double forceApplied[MAX_JOINT_AXIS];
219 
222  private: common::Time forceAppliedTime;
223  };
225  }
226 }
227 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:100
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
SimTK::Constraint constraint
: isValid() if we used a constraint to model this joint.
Definition: SimbodyJoint.hh:185
bool isReversed
: if mobilizer, did it reverse parent&child? Set when we build the Simbody model. ...
Definition: SimbodyJoint.hh:178
SimTK::Transform xCB
child body frame to mobilizer frame
Definition: SimbodyJoint.hh:144
SimTK::Transform xPA
Normally A=F, B=M.
Definition: SimbodyJoint.hh:141
SimbodyPhysicsPtr simbodyPhysics
keep a pointer to the simbody physics engine for convenience
Definition: SimbodyJoint.hh:208
Base class for all joints.
Definition: SimbodyJoint.hh:37
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
#define MAX_JOINT_AXIS
maximum number of axis per joint anticipated.
Definition: Joint.hh:39
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:205
SimTK::Transform defxAB
default mobilizer pose
Definition: SimbodyJoint.hh:147
Base class for all joints.
Definition: Joint.hh:50
Wrench information from a joint.
Definition: JointWrench.hh:39
An angle and related functions.
Definition: Angle.hh:53
SimTK::MobilizedBody mobod
Use isValid() if we used a mobilizer Set when we build the Simbody model.
Definition: SimbodyJoint.hh:174
bool physicsInitialized
Definition: SimbodyJoint.hh:188
bool mustBreakLoopHere
Force Simbody to break a loop by using a weld constraint.
Definition: SimbodyJoint.hh:137
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44