BulletTypes Class Reference

A set of functions for converting between the math types used by gazebo and bullet. More...

#include <BulletTypes.hh>

Static Public Member Functions
static math::Pose	ConvertPose (const btTransform &_bt)
	Convert a bullet transform to a gazebo pose. More...
static btTransform	ConvertPose (const math::Pose &_pose)
	Convert a gazebo pose to a bullet transform. More...
static math::Vector3	ConvertVector3 (const btVector3 &_bt)
	Convert a bullet btVector3 to a gazebo Vector3. More...
static btVector3	ConvertVector3 (const math::Vector3 &_vec)
	Convert a gazebo Vector3 to a bullet btVector3. More...
static math::Vector4	ConvertVector4 (const btVector4 &_bt)
	Convert a bullet btVector4 to a gazebo Vector4. More...
static btVector4	ConvertVector4 (const math::Vector4 &_vec)
	Convert a gazebo Vector4 to a bullet btVector4. More...

Detailed Description

A set of functions for converting between the math types used by gazebo and bullet.

Member Function Documentation

ConvertPose() [1/2]

static math::Pose ConvertPose ( const btTransform &  _bt )

inlinestatic

Convert a bullet transform to a gazebo pose.

Parameters

[in]

_bt

Bullet pose (btTransform).

Returns

Gazebo pose.

References BulletTypes::ConvertVector3(), Pose::pos, Pose::rot, Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

Referenced by BulletSphereShape::SetRadius(), BulletBoxShape::SetSize(), and BulletCylinderShape::SetSize().

ConvertPose() [2/2]

static btTransform ConvertPose ( const math::Pose &  _pose )

inlinestatic

Convert a gazebo pose to a bullet transform.

Parameters

[in]

_pose

Gazebo pose.

Returns

Bullet pose (btTransform).

References BulletTypes::ConvertVector3(), Pose::pos, Pose::rot, Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

ConvertVector3() [1/2]

static math::Vector3 ConvertVector3 ( const btVector3 &  _bt )

inlinestatic

Convert a bullet btVector3 to a gazebo Vector3.

Parameters

[in]

_bt

Bullet Vector3.

Returns

Gazebo Vector3.

Referenced by BulletTypes::ConvertPose().

ConvertVector3() [2/2]

static btVector3 ConvertVector3 ( const math::Vector3 &  _vec )

inlinestatic

Convert a gazebo Vector3 to a bullet btVector3.

Parameters

[in]

_vec

Gazebo Vector3.

Returns

Bullet Vector3.

References Vector3::x, Vector3::y, and Vector3::z.

ConvertVector4() [1/2]

static math::Vector4 ConvertVector4 ( const btVector4 &  _bt )

inlinestatic

Convert a bullet btVector4 to a gazebo Vector4.

Parameters

[in]

_bt

Bullet Vector4.

Returns

Gazebo Vector4.

ConvertVector4() [2/2]

static btVector4 ConvertVector4 ( const math::Vector4 &  _vec )

inlinestatic

Convert a gazebo Vector4 to a bullet btVector4.

Parameters

[in]

_vec

Gazebo Vector4.

Returns

Bullet Vector4.

References Vector4::w, Vector4::x, Vector4::y, and Vector4::z.

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

• BulletTypes.hh