A double axis gearbox joint. More...
#include <physics/physics.hh>
Inherits T.
Public Member Functions | |
GearboxJoint (BasePtr _parent) | |
Constructor. | |
virtual | ~GearboxJoint () |
Destructor. | |
virtual unsigned int | DOF () const |
virtual void | FillMsg (msgs::Joint &_msg) |
virtual double | GetGearboxRatio () const |
Get gearbox joint gear ratio. | |
virtual void | Load (sdf::ElementPtr _sdf) |
Load joint. | |
virtual void | SetGearboxRatio (double _gearRatio)=0 |
Set gearbox joint gear ratio. | |
Protected Member Functions | |
virtual void | Init () |
Initialize joint. | |
Protected Attributes | |
double | gearRatio |
Gearbox gearRatio. | |
std::string | referenceBody |
reference link/body for computing joint angles | |
A double axis gearbox joint.
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inlineexplicit |
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inlinevirtual |
Destructor.
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inlinevirtual |
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inlinevirtual |
References Joint::FillMsg(), GearboxJoint< T >::gearRatio, and GearboxJoint< T >::referenceBody.
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inlinevirtual |
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inlineprotectedvirtual |
Initialize joint.
Reimplemented in ODEGearboxJoint.
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inlinevirtual |
Load joint.
[in] | _sdf | Pointer to SDF element |
Reimplemented in ODEGearboxJoint.
References GearboxJoint< T >::gearRatio, gzerr, and GearboxJoint< T >::referenceBody.
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pure virtual |
Set gearbox joint gear ratio.
This must be implemented in a child class
[in] | _index | Index of the axis. |
[in] | _gearRatio | Gear ratio value. |
Implemented in ODEGearboxJoint.
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protected |
Gearbox gearRatio.
Referenced by GearboxJoint< T >::FillMsg(), GearboxJoint< T >::GetGearboxRatio(), and GearboxJoint< T >::Load().
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protected |
reference link/body for computing joint angles
Referenced by GearboxJoint< T >::FillMsg(), and GearboxJoint< T >::Load().