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27 #include <boost/any.hpp>
32 #include "gazebo/msgs/MessageTypes.hh"
105 public:
virtual void Init();
115 public:
virtual void Reset();
144 public:
virtual void Detach();
154 public:
virtual void SetDamping(
int _index,
double _damping) = 0;
159 public:
template<
typename T>
161 {
return jointUpdate.
Connect(_subscriber);}
181 public:
virtual void SetAnchor(
int _index,
214 public:
virtual void SetVelocity(
int _index,
double _vel) = 0;
219 public:
virtual double GetVelocity(
int _index)
const = 0;
229 public:
virtual void SetForce(
int _index,
double _force);
240 public:
virtual double GetForce(
int _index);
250 public:
virtual void SetMaxForce(
int _index,
double _force) = 0;
260 public:
virtual double GetMaxForce(
int _index) = 0;
303 unsigned int _index)
const = 0;
317 public:
virtual void SetAttribute(
const std::string &_key,
int _index,
318 const boost::any &_value) = 0;
335 public:
void FillMsg(msgs::Joint &_msg);
344 private:
void LoadImpl(
const math::Pose &_pose);