Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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BallJoint Class Reference

#include <joint.h>

Inheritance diagram for BallJoint:
Collaboration diagram for BallJoint:

Public Member Functions

 BallJoint (Primitive *part1, Primitive *part2, const osg::Vec3 &anchor)
 
virtual ~BallJoint ()
 
virtual void init (const OdeHandle &odeHandle, const OsgHandle &osgHandle, bool withVisual=true, double visualSize=0.2, bool ignoreColl=true)
 initialises (and creates) the joint. More...
 
virtual void update ()
 should syncronise the Ode stuff and the OSG notes (if any) More...
 
virtual int getNumberAxes () const
 returns the number of Axes More...
 
virtual void setParam (int parameter, double value)
 sets the ODE joint parameter (see ODE manual) More...
 
virtual double getParam (int parameter) const
 return the ODE joint parameter (see ODE manual) More...
 
- Public Member Functions inherited from Joint
 Joint (Primitive *part1, Primitive *part2, const osg::Vec3 &anchor)
 
virtual ~Joint ()
 
dJointID getJoint () const
 
const PrimitivegetPart1 () const
 
PrimitivegetPart1 ()
 
const PrimitivegetPart2 () const
 
PrimitivegetPart2 ()
 
const osg::Vec3 getAnchor () const
 
virtual Axis getAxis (int n) const
 returns the n'th axis of the joint (starting with 0) More...
 
virtual std::list< double > getPositions () const
 returns the positions of all Axes More...
 
virtual std::list< double > getPositionRates () const
 returns the position rates of all Axes More...
 
virtual int getPositions (double *sensorarray) const
 stores the positions of all Axes into sensorarray and returns the number of written entries More...
 
virtual int getPositionRates (double *sensorarray) const
 stores the position rates of all Axes into sensorarray and returns the number of written entries More...
 
virtual void setFeedBackMode (bool mode)
 enable or disable the feedback mode More...
 
virtual bool getTorqueFeedback (Pos &t1, Pos &t2) const
 torque applied to body 1 and body 2 More...
 
virtual bool getForceFeedback (Pos &f1, Pos &f2) const
 force applied to body 1 and body 2 More...
 

Protected Attributes

OSGPrimitivevisual
 
- Protected Attributes inherited from Joint
dJointID joint
 
Primitivepart1
 
Primitivepart2
 
osg::Vec3 anchor
 
dJointFeedback * feedback
 

Additional Inherited Members

- Static Public Member Functions inherited from Joint
static osg::Matrix anchorAxisPose (const osg::Vec3 &anchor, const Axis &axis)
 
- Public Attributes inherited from Joint
OdeHandle odeHandle
 

Constructor & Destructor Documentation

BallJoint ( Primitive part1,
Primitive part2,
const osg::Vec3 anchor 
)
~BallJoint ( )
virtual

Member Function Documentation

virtual int getNumberAxes ( ) const
inlinevirtual

returns the number of Axes

Implements Joint.

double getParam ( int  parameter) const
virtual

return the ODE joint parameter (see ODE manual)

Implements Joint.

void init ( const OdeHandle odeHandle,
const OsgHandle osgHandle,
bool  withVisual = true,
double  visualSize = 0.2,
bool  ignoreColl = true 
)
virtual

initialises (and creates) the joint.

If visual is true then ball is drawn as a sphere with radius of visualSize.

Reimplemented from Joint.

void setParam ( int  parameter,
double  value 
)
virtual

sets the ODE joint parameter (see ODE manual)

Implements Joint.

void update ( )
virtual

should syncronise the Ode stuff and the OSG notes (if any)

Implements Joint.

Member Data Documentation

OSGPrimitive* visual
protected

The documentation for this class was generated from the following files: