18#ifndef _GAZEBO_DARTSCREWJOINT_HH_
19#define _GAZEBO_DARTSCREWJOINT_HH_
45 public:
virtual void Load(sdf::ElementPtr _sdf)
override;
48 public:
virtual void Init()
override;
51 public:
virtual double GetVelocity(
unsigned int _index)
const override;
55 const unsigned int _index)
const override;
58 public:
virtual void SetAxis(
const unsigned int _index,
59 const ignition::math::Vector3d &_axis)
override;
75 public:
virtual double GetParam(
const std::string &_key,
76 unsigned int _index)
override;
79 public:
virtual bool SetParam(
const std::string &_key,
81 const boost::any &_value)
override;
84 const unsigned int _index = 0)
const override;
A screw joint.
Definition DARTScrewJoint.hh:36
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis) override
Set the axis of rotation where axis is specified in local joint frame.
virtual void SetThreadPitch(double _threadPitch) override
Set screw joint thread pitch.
virtual double GetThreadPitch() override
Get screw joint thread pitch.
virtual double PositionImpl(const unsigned int _index=0) const override
Helper function to get the position of an axis.
virtual double GetVelocity(unsigned int _index) const override
Get the rotation rate of an axis(index)
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const override
Get the axis of rotation in global cooridnate frame.
virtual double GetThreadPitch(unsigned int _index)
Get screw joint thread pitch.
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
Set screw joint thread pitch.
virtual ~DARTScrewJoint()
Destructor.
virtual double GetParam(const std::string &_key, unsigned int _index) override
Get a non-generic parameter for the joint.
virtual void Init() override
Initialize joint.
virtual void Load(sdf::ElementPtr _sdf) override
Load a ScrewJoint.
DARTScrewJoint(BasePtr _parent)
Constructor.
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value) override
Set a non-generic parameter for the joint.
A screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27