18#ifndef _GAZEBO_ODEFIXEDJOINT_HH_
19#define _GAZEBO_ODEFIXEDJOINT_HH_
44 public:
virtual void Load(sdf::ElementPtr _sdf);
47 public:
virtual ignition::math::Vector3d
Anchor(
48 const unsigned int _index)
const;
51 public:
virtual void SetAnchor(
const unsigned int _index,
52 const ignition::math::Vector3d &_anchor);
56 const unsigned int _index)
const;
59 public:
virtual void SetAxis(
const unsigned int _index,
60 const ignition::math::Vector3d &_axis);
63 public:
virtual double PositionImpl(
const unsigned int _index)
const;
66 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
69 public:
virtual double GetVelocity(
unsigned int _index)
const;
75 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
A fixed joint rigidly connecting two bodies.
Definition FixedJoint.hh:34
A fixed joint.
Definition ODEFixedJoint.hh:34
virtual ~ODEFixedJoint()
Destructor.
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void Attach(LinkPtr _parent, LinkPtr _child)
Attach the two bodies with this joint.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
ODEFixedJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27