Why does the spring joint plugin not work?
I followed the example here and created a model plugin, that at each update call this function:
void SpringJointPlugin::OnUpdate()
{
this->current_angle = this->joint_ptr_->GetAngle(0).Radian();
this->joint_ptr_->SetForce( 0, (this->rest_angle-this->current_angle)*this->stiffness);
}
the joint_ptr_
is of physics::JointPtr
format. When I try to build this plugin, I get error
SpringJointPlugin.cc:80:45: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’; did you mean ‘GetForce’?
this->current_angle = this->joint_ptr_->GetAngle(0).Radian();
^~~~~~~~
GetForce
When I look into the documentation, this method is listed. When I use the the GetForce
method as suggested, or any other function listed in the documentation, it still gives me errors.
Why and how to fix this?