virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual void SetVelocity(unsigned int _index, double _rate)
Set the velocity of an axis(index).
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
A slider joint.
Definition: SimbodySliderJoint.hh:37
virtual ~SimbodySliderJoint()
Destructor.
virtual void SetForceImpl(unsigned int _index, double _force)
Set the force applied to this physics::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.
SimbodySliderJoint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void Load(sdf::ElementPtr _sdf)
Load a SliderJoint.
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:221