18#ifndef _ODEGEARBOXJOINT_HH_
19#define _ODEGEARBOXJOINT_HH_
47 public:
virtual void Load(sdf::ElementPtr _sdf);
50 public:
virtual void Init();
53 public:
virtual ignition::math::Vector3d
Anchor(
54 const unsigned int _index)
const;
57 public:
virtual void SetAnchor(
const unsigned int _index,
58 const ignition::math::Vector3d &_anchor);
62 const unsigned int _index)
const;
65 public:
virtual void SetAxis(
const unsigned int _index,
66 const ignition::math::Vector3d &_axis);
72 public:
virtual double PositionImpl(
const unsigned int _index)
const;
75 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
78 public:
virtual double GetVelocity(
unsigned int _index)
const;
81 public:
virtual double GetParam(
unsigned int _parameter)
const;
84 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
87 public:
virtual double GetParam(
const std::string &_key,
91 public:
virtual bool SetParam(
const std::string &_key,
93 const boost::any &_value);
96 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
100 private:
void SetReferenceBody(
LinkPtr _body);
A double axis gearbox joint.
Definition GearboxJoint.hh:37
A double axis gearbox joint.
Definition ODEGearboxJoint.hh:37
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
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 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 SetGearboxRatio(double _gearRatio)
Set gearbox joint gear ratio.
virtual ~ODEGearboxJoint()
Destructor.
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the joint.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
ODEGearboxJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
virtual void SetParam(unsigned int _parameter, double _value)
Set an ODE joint paramter.
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.
virtual double GetParam(unsigned int _parameter) const
Get an ODE joint parameter.
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