17#ifndef _SCREWJOINT_HH_
18#define _SCREWJOINT_HH_
40 {this->AddType(Base::SCREW_JOINT);}
47 public:
virtual unsigned int DOF()
const
52 public:
virtual void Load(sdf::ElementPtr _sdf)
57 _sdf->GetElement(
"thread_pitch")->Get<
double>();
79 public:
virtual void FillMsg(msgs::Joint &_msg)
82 msgs::Joint::Screw *screwMsg = _msg.mutable_screw();
83 screwMsg->set_thread_pitch(this->threadPitch);
90 protected:
virtual void Init()
@ SCREW_JOINT
ScrewJoint type.
Definition Base.hh:102
virtual void FillMsg(msgs::Joint &_msg)
Fill a joint message.
A screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
virtual void Init()
Initialize joint.
Definition ScrewJoint.hh:90
double threadPitch
Pitch of the thread.
Definition ScrewJoint.hh:87
virtual ~ScrewJoint()
Destructor.
Definition ScrewJoint.hh:43
virtual void SetThreadPitch(double _threadPitch)=0
Set screw joint thread pitch.
virtual double GetThreadPitch()=0
Get screw joint thread pitch.
virtual void Load(sdf::ElementPtr _sdf)
Load a ScrewJoint.
Definition ScrewJoint.hh:52
ScrewJoint(BasePtr _parent)
Constructor.
Definition ScrewJoint.hh:39
virtual void FillMsg(msgs::Joint &_msg)
Definition ScrewJoint.hh:79
virtual unsigned int DOF() const
Definition ScrewJoint.hh:47
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27