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17 #ifndef GAZEBO_PHYSICS_ODE_ODELINK_HH_
18 #define GAZEBO_PHYSICS_ODE_ODELINK_HH_
20 #include <ignition/math/Vector3.hh>
45 public:
virtual void Load(sdf::ElementPtr _sdf);
48 public:
virtual void Init();
51 public:
virtual void Fini();
54 public:
virtual void OnPoseChange();
57 public:
virtual void SetEnabled(
bool _enable)
const;
60 public:
virtual bool GetEnabled()
const;
66 public:
void UpdateCollisionOffsets();
69 public:
virtual void UpdateMass();
72 public:
virtual void UpdateSurface();
75 public:
virtual void SetLinearVel(
const ignition::math::Vector3d &_vel);
78 public:
virtual void SetAngularVel(
const ignition::math::Vector3d &_vel);
81 public:
virtual void SetForce(
const ignition::math::Vector3d &_force);
84 public:
virtual void SetTorque(
const ignition::math::Vector3d &_torque);
87 public:
virtual void AddForce(
const ignition::math::Vector3d &_force);
90 public:
virtual void AddRelativeForce(
91 const ignition::math::Vector3d &_force);
94 public:
virtual void AddForceAtWorldPosition(
95 const ignition::math::Vector3d &_force,
96 const ignition::math::Vector3d &_pos);
99 public:
virtual void AddForceAtRelativePosition(
100 const ignition::math::Vector3d &_force,
101 const ignition::math::Vector3d &_relpos);
104 public:
virtual void AddLinkForce(
105 const ignition::math::Vector3d &_force,
106 const ignition::math::Vector3d &_offset =
107 ignition::math::Vector3d::Zero);
110 public:
virtual void AddTorque(
const ignition::math::Vector3d &_torque);
113 public:
virtual void AddRelativeTorque(
114 const ignition::math::Vector3d &_torque);
117 public:
virtual ignition::math::Vector3d WorldLinearVel(
118 const ignition::math::Vector3d &_offset)
const;
121 public:
virtual ignition::math::Vector3d WorldLinearVel(
122 const ignition::math::Vector3d &_offset,
123 const ignition::math::Quaterniond &_q)
const;
126 public:
virtual ignition::math::Vector3d WorldCoGLinearVel()
const;
129 public:
virtual ignition::math::Vector3d WorldAngularVel()
const;
132 public:
virtual ignition::math::Vector3d WorldForce()
const;
135 public:
virtual ignition::math::Vector3d WorldTorque()
const;
138 public:
virtual void SetGravityMode(
bool _mode);
141 public:
virtual bool GetGravityMode()
const;
144 public:
void SetSelfCollide(
bool _collide);
147 public:
virtual void SetLinearDamping(
double _damping);
150 public:
virtual void SetAngularDamping(
double _damping);
153 public:
virtual void SetKinematic(
const bool &_state);
156 public:
virtual bool GetKinematic()
const;
159 public:
virtual void SetAutoDisable(
bool _disable);
163 public: dBodyID GetODEId()
const;
167 public: dSpaceID GetSpaceId()
const;
171 public:
void SetSpaceId(dSpaceID _spaceid);
175 public:
static void DisabledCallback(dBodyID _id);
180 public:
static void MoveCallback(dBodyID _id);
183 public:
virtual void SetLinkStatic(
bool _static);
186 private: dBodyID linkId;
192 private: dSpaceID spaceId;
195 private: ignition::math::Vector3d force;
198 private: ignition::math::Vector3d torque;
virtual ignition::math::Vector3d WorldForce() const
Get the force applied to the body in the world frame.
virtual void AddLinkForce(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_offset=ignition::math::Vector3d::Zero)
Add a force expressed in the link frame.
virtual void Init()
Initialize the body.
virtual ignition::math::Vector3d WorldLinearVel() const
Get the linear velocity of the origin of the link frame, expressed in the world frame.
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual ignition::math::Vector3d WorldCoGLinearVel() const
Get the linear velocity at the body's center of gravity in the world frame.
virtual void SetLinearVel(const ignition::math::Vector3d &_vel)
Set the linear velocity of the body.
virtual ignition::math::Vector3d WorldAngularVel() const
Get the angular velocity of the entity in the world frame.
virtual void SetAngularVel(const ignition::math::Vector3d &_vel)
Set the angular velocity of the body.
void SetSpaceId(dSpaceID _spaceid)
Set the ID of the collision space this link is in.
virtual void SetForce(const ignition::math::Vector3d &_force)
Set the force applied to the body.
void SetSelfCollide(bool _collide)
Set whether this body will collide with others in the model.
virtual void UpdateSurface()
Update surface parameters.
virtual void AddForce(const ignition::math::Vector3d &_force)
Add a force to the body.
virtual void SetAngularDamping(double _damping)
Set the angular damping factor.
virtual void Load(sdf::ElementPtr _sdf)
Load the body based on an SDF element.
virtual void SetTorque(const ignition::math::Vector3d &_torque)
Set the torque applied to the body.
virtual void SetLinkStatic(bool _static)
Freeze link to ground (inertial frame).
dSpaceID GetSpaceId() const
Get the ID of the collision space this link is in.
virtual void SetKinematic(const bool &_state)
\TODO Implement this function.
virtual void SetAutoDisable(bool _disable)
Allow the link to auto disable.
boost::shared_ptr< ODEPhysics > ODEPhysicsPtr
Definition: ODETypes.hh:59
Link class defines a rigid body entity, containing information on inertia, visual and collision prope...
Definition: Link.hh:52
void UpdateCollisionOffsets()
Update location of collisions relative to center of mass.
static void MoveCallback(dBodyID _id)
when ODE updates dynamics bodies, this callback propagates the chagnes in pose back to Gazebo
virtual void SetLinearDamping(double _damping)
Set the linear damping factor.
virtual void SetEnabled(bool _enable) const
Set whether this body is enabled.
virtual void AddTorque(const ignition::math::Vector3d &_torque)
Add a torque to the body.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
virtual void AddRelativeForce(const ignition::math::Vector3d &_force)
Add a force to the body, components are relative to the body's own frame of reference.
virtual void AddForceAtWorldPosition(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_pos)
Add a force to the body using a global position.
ODE wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void AddRelativeTorque(const ignition::math::Vector3d &_torque)
Add a torque to the body, components are relative to the body's own frame of reference.
virtual bool GetKinematic() const
\TODO Implement this function.
virtual void Fini()
Finalize the body.
virtual ~ODELink()
Destructor.
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
virtual void SetGravityMode(bool _mode)
Set whether gravity affects this body.
ODE Link class.
Definition: ODELink.hh:35
dBodyID GetODEId() const
Return the ID of this link.
virtual void UpdateMass()
Update the mass matrix.
virtual void AddForceAtRelativePosition(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_relpos)
Add a force (in world frame coordinates) to the body at a position relative to the center of mass whi...
virtual bool GetEnabled() const
Get whether this body is enabled in the physics engine.
ODELink(EntityPtr _parent)
Constructor.
static void DisabledCallback(dBodyID _id)
Callback when ODE determines a body is disabled.
virtual ignition::math::Vector3d WorldTorque() const
Get the torque applied to the body about the center of mass in world frame coordinates.
virtual bool GetGravityMode() const
Get the gravity mode.