A two axis hinge joint.
Definition SimbodyHinge2Joint.hh:37
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 ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the torque.
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
SimbodyHinge2Joint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
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 ~SimbodyHinge2Joint()
Destructor.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition SimbodyJoint.hh:221