18#ifndef _GAZEBO_DARTBALLJOINT_HH_
19#define _GAZEBO_DARTBALLJOINT_HH_
43 public:
virtual void Load(sdf::ElementPtr _sdf);
46 public:
virtual void Init();
50 const unsigned int _index)
const;
53 public:
virtual void SetAxis(
const unsigned int _index,
54 const ignition::math::Vector3d &_axis);
Base class for a ball joint.
Definition BallJoint.hh:41
An DARTBallJoint.
Definition DARTBallJoint.hh:34
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 void Init()
Initialize joint.
virtual ~DARTBallJoint()
Destructor.
virtual void Load(sdf::ElementPtr _sdf)
Template to Load the BallJoint.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
DARTBallJoint(BasePtr _parent)
Constructor.
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27