17#ifndef _ODESCREWJOINT_HH_
18#define _ODESCREWJOINT_HH_
44 public:
virtual void Load(sdf::ElementPtr _sdf);
47 public:
virtual ignition::math::Vector3d
Anchor(
48 const unsigned int _index)
const;
51 public:
virtual void SetAnchor(
const unsigned int _index,
52 const ignition::math::Vector3d &_anchor);
56 const unsigned int _index)
const;
59 public:
virtual void SetAxis(
const unsigned int _index,
60 const ignition::math::Vector3d &_axis);
76 public:
virtual double PositionImpl(
const unsigned int _index)
const;
79 public:
virtual double GetVelocity(
unsigned int _index)
const;
82 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
85 public:
virtual double GetParam(
unsigned int _parameter)
const;
88 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
91 public:
virtual bool SetParam(
const std::string &_key,
93 const boost::any &_value);
96 public:
virtual double GetParam(
const std::string &_key,
100 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
A screw joint.
Definition ODEScrewJoint.hh:34
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 double GetThreadPitch(unsigned int _index)
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetThreadPitch(unsigned int _index, double _threadPitch)
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 double GetThreadPitch()
Get screw joint thread pitch.
virtual ~ODEScrewJoint()
Destructor.
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
ODEScrewJoint(dWorldID _worldId, BasePtr _parent)
Constructor.
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 a ScrewJoint.
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 void SetThreadPitch(double _threadPitch)
Set screw joint thread pitch.
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.
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