SetForce with ODE Engine: error in documentation?

Question

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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Originally posted by Moritz on Gazebo Answers with karma: 15 on 2015-01-23

Post score: 1

Answer 1

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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Originally posted by silvio.traversaro with karma: 200 on 2015-01-27

This answer was ACCEPTED on the original site

Post score: 2