18#ifndef _SIMBODY_SCREWJOINT_HH_
19#define _SIMBODY_SCREWJOINT_HH_
47 protected:
virtual void Load(sdf::ElementPtr _sdf);
50 public:
virtual void SetAxis(
const unsigned int _index,
51 const ignition::math::Vector3d &_axis);
62 public:
virtual double UpperLimit(
const unsigned int _index)
const;
65 public:
virtual double LowerLimit(
const unsigned int _index)
const;
81 public:
virtual double GetVelocity(
unsigned int _index)
const;
84 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
88 const unsigned int _index)
const;
91 public:
virtual double PositionImpl(
const unsigned int _index)
const;
94 public:
virtual bool SetParam(
const std::string &_key,
96 const boost::any &_value);
99 public:
virtual double GetParam(
const std::string &_key,
100 unsigned int _index);
103 protected:
virtual void SetForceImpl(
unsigned int _index,
double _force);
A screw joint, which has both prismatic and rotational DOFs.
Definition ScrewJoint.hh:36
A screw joint.
Definition SimbodyScrewJoint.hh:36
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
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 SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
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 double GetThreadPitch(unsigned int)
virtual double GetThreadPitch()
Get screw joint thread pitch.
virtual ~SimbodyScrewJoint()
Destructor.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
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 SetForceImpl(unsigned int _index, double _force)
Set the force applied to this physics::Joint.
SimbodyScrewJoint(SimTK::MultibodySystem *_world, BasePtr _parent)
Constructor.
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 double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27