18#ifndef _GAZEBO_DARTUNIVERSALJOINT_HH_
19#define _GAZEBO_DARTUNIVERSALJOINT_HH_
44 public:
virtual void Load(sdf::ElementPtr _sdf);
47 public:
virtual void Init();
51 const unsigned int _index)
const;
54 public:
virtual void SetAxis(
const unsigned int _index,
55 const ignition::math::Vector3d &_axis);
A universal joint.
Definition DARTUniversalJoint.hh:35
virtual ~DARTUniversalJoint()
Destuctor.
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.
DARTUniversalJoint(BasePtr _parent)
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load a UniversalJoint.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A universal joint.
Definition UniversalJoint.hh:36
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27