124 lines
3.8 KiB
C++
124 lines
3.8 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <boost/bind.hpp>
|
|
|
|
#include "gazebo/gazebo_config.h"
|
|
#include "gazebo/common/Console.hh"
|
|
|
|
#include "gazebo/physics/Model.hh"
|
|
#include "gazebo/physics/Link.hh"
|
|
#include "gazebo/physics/ode/ODEFixedJoint.hh"
|
|
|
|
using namespace gazebo;
|
|
using namespace physics;
|
|
|
|
//////////////////////////////////////////////////
|
|
ODEFixedJoint::ODEFixedJoint(dWorldID _worldId, BasePtr _parent)
|
|
: FixedJoint<ODEJoint>(_parent)
|
|
{
|
|
this->jointId = dJointCreateFixed(_worldId, NULL);
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
ODEFixedJoint::~ODEFixedJoint()
|
|
{
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
void ODEFixedJoint::Load(sdf::ElementPtr _sdf)
|
|
{
|
|
FixedJoint<ODEJoint>::Load(_sdf);
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
math::Vector3 ODEFixedJoint::GetAnchor(unsigned int /*index*/) const
|
|
{
|
|
gzwarn << "SimbodyFixedJoint: called method "
|
|
<< "GetAnchor that is not valid for joints of type fixed.\n";
|
|
return math::Vector3();
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
void ODEFixedJoint::SetAnchor(unsigned int /*index*/,
|
|
const math::Vector3 &/*_anchor*/)
|
|
{
|
|
if (this->childLink)
|
|
this->childLink->SetEnabled(true);
|
|
if (this->parentLink)
|
|
this->parentLink->SetEnabled(true);
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
math::Vector3 ODEFixedJoint::GetGlobalAxis(unsigned int /*_index*/) const
|
|
{
|
|
gzwarn << "SimbodyFixedJoint: called method "
|
|
<< "GetGlobalAxis that is not valid for joints of type fixed.\n";
|
|
return math::Vector3();
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
void ODEFixedJoint::SetAxis(unsigned int /*_index*/,
|
|
const math::Vector3 &/*_axis*/)
|
|
{
|
|
gzwarn << "ODEFixedJoint: called method "
|
|
<< "SetAxis that is not valid for joints of type fixed.\n";
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
math::Angle ODEFixedJoint::GetAngleImpl(unsigned int /*index*/) const
|
|
{
|
|
gzwarn << "ODEFixedJoint: called method "
|
|
<< "GetAngleImpl that is not valid for joints of type fixed.\n";
|
|
return math::Angle();
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
double ODEFixedJoint::GetVelocity(unsigned int /*index*/) const
|
|
{
|
|
gzwarn << "ODEFixedJoint: called method "
|
|
<< "GetVelocity that is not valid for joints of type fixed.\n";
|
|
return 0.0;
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
void ODEFixedJoint::SetVelocity(unsigned int /*_index*/, double /*_angle*/)
|
|
{
|
|
gzwarn << "ODEFixedJoint: called method "
|
|
<< "SetVelocity that is not valid for joints of type fixed.\n";
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
void ODEFixedJoint::SetForceImpl(unsigned int /*_index*/, double /*_effort*/)
|
|
{
|
|
gzwarn << "ODEFixedJoint: called method "
|
|
<< "SetForceImpl that is not valid for joints of type fixed.\n";
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
void ODEFixedJoint::Attach(LinkPtr _parent, LinkPtr _child)
|
|
{
|
|
gazebo::physics::ODEJoint::Attach(_parent, _child);
|
|
|
|
// Once we attach the links to the fixed joint,
|
|
// we also call the dJointSetFixed method to
|
|
// the current desired relative offset and desired
|
|
// relative rotation between the bodies.
|
|
|
|
dJointSetFixed(this->jointId);
|
|
}
|