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gazebo::physics::GearboxJoint< T > Class Template Referenceabstract

A double axis gearbox joint. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::GearboxJoint< T >:
Inheritance graph
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Public Member Functions

 GearboxJoint (BasePtr _parent)
 Constructor. More...
 
virtual ~GearboxJoint ()
 Destructor. More...
 
virtual unsigned int GetAngleCount () const
 
virtual double GetGearboxRatio () const
 Get gearbox joint gear ratio. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load joint. More...
 
virtual void SetGearboxRatio (double _gearRatio)=0
 Set gearbox joint gear ratio. More...
 

Protected Member Functions

virtual void Init ()
 Initialize joint. More...
 

Protected Attributes

double gearRatio
 Gearbox gearRatio. More...
 
std::string referenceBody
 reference link/body for computing joint angles More...
 

Detailed Description

template<class T>
class gazebo::physics::GearboxJoint< T >

A double axis gearbox joint.

Constructor & Destructor Documentation

template<class T >
gazebo::physics::GearboxJoint< T >::GearboxJoint ( BasePtr  _parent)
inline

Constructor.

Parameters
[in]_parentParent link

References gazebo::physics::Base::GEARBOX_JOINT.

template<class T >
virtual gazebo::physics::GearboxJoint< T >::~GearboxJoint ( )
inlinevirtual

Destructor.

Member Function Documentation

template<class T >
virtual unsigned int gazebo::physics::GearboxJoint< T >::GetAngleCount ( ) const
inlinevirtual
template<class T >
virtual double gazebo::physics::GearboxJoint< T >::GetGearboxRatio ( ) const
inlinevirtual

Get gearbox joint gear ratio.

Returns
Gear ratio value.
template<class T >
virtual void gazebo::physics::GearboxJoint< T >::Init ( )
inlineprotectedvirtual

Initialize joint.

References gazebo::msgs::Init().

template<class T >
virtual void gazebo::physics::GearboxJoint< T >::Load ( sdf::ElementPtr  _sdf)
inlinevirtual

Load joint.

Parameters
[in]_sdfPointer to SDF element

References gzerr.

template<class T >
virtual void gazebo::physics::GearboxJoint< T >::SetGearboxRatio ( double  _gearRatio)
pure virtual

Set gearbox joint gear ratio.

This must be implemented in a child class

Parameters
[in]_indexIndex of the axis.
[in]_gearRatioGear ratio value.

Member Data Documentation

template<class T >
double gazebo::physics::GearboxJoint< T >::gearRatio
protected

Gearbox gearRatio.

template<class T >
std::string gazebo::physics::GearboxJoint< T >::referenceBody
protected

reference link/body for computing joint angles


The documentation for this class was generated from the following file: