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SetForce with ODE Engine: error in documentation?

asked 2015-01-23 03:08:17 -0500

Moritz gravatar image

updated 2015-01-23 03:13:49 -0500

Hi,

I've written a ModelPlugin which calls physics::Joint::SetForce(int, double) on a revolute joint using the ODE physics engine. According to the documentation Gazebo API doc this should only work for SimBody and DART engine (I'm using gazebo 4.1). However, it works as expected.

My question is: can I safely use this with ODE, i.e. it's only an error in the documentation, or do I have to expect this behaviour will break in some update?

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answered 2015-01-27 02:53:01 -0500

silvio.traversaro gravatar image

The SetForce method is implemented for all the physics engines, check for example the ODE implementation and the Bullet implementation.

However a known issue is that the SetForce documentation is incomplete, see the related issue in the Gazebo Bug-tracker: https://bitbucket.org/osrf/gazebo/issue/878/joint-setforce-documentation-incomplete . If you plan to use this function, I suggest you vote for this issue.

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Asked: 2015-01-23 03:08:17 -0500

Seen: 1,140 times

Last updated: Jan 27 '15