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18 #ifndef _ODEGEARBOXJOINT_HH_
19 #define _ODEGEARBOXJOINT_HH_
45 public:
virtual void Load(sdf::ElementPtr _sdf);
48 public:
virtual void Init();
51 public:
virtual ignition::math::Vector3d
Anchor(
52 const unsigned int _index)
const;
55 public:
virtual void SetAnchor(
const unsigned int _index,
56 const ignition::math::Vector3d &_anchor);
60 const unsigned int _index)
const;
63 public:
virtual void SetAxis(
const unsigned int _index,
64 const ignition::math::Vector3d &_axis);
70 public:
virtual double PositionImpl(
const unsigned int _index)
const;
73 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
76 public:
virtual double GetVelocity(
unsigned int _index)
const;
79 public:
virtual double GetParam(
unsigned int _parameter)
const;
82 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
85 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
89 private:
void SetReferenceBody(
LinkPtr _body);
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
Forward declarations for the common classes.
Definition: Animation.hh:27
virtual ~ODEGearboxJoint()
Destructor.
A double axis gearbox joint.
Definition: GearboxJoint.hh:43
A double axis gearbox joint.
Definition: ODEGearboxJoint.hh:35
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
virtual void SetParam(unsigned int _parameter, double _value)
Set an ODE joint paramter.
virtual void SetGearboxRatio(double _gearRatio)
Set gearbox joint gear ratio.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
virtual void SetAnchor(const unsigned int _index, const ignition::math::Vector3d &_anchor)
Set the anchor point.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
virtual void Init()
Initialize 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 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.
ODEGearboxJoint(dWorldID _worldId, BasePtr _parent)
Constructor.