gazebo::physics::ScrewJoint< T > Class Template Reference

A screw joint, which has both prismatic and rotational DOFs. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::ScrewJoint< T >:

Public Member Functions
	ScrewJoint (BasePtr _parent)
	Constructor. More...
virtual	~ScrewJoint ()
	Destructor. More...
virtual unsigned int	GetAngleCount () const
virtual double	GetThreadPitch (unsigned int _index) GAZEBO_DEPRECATED(3.0)=0
	Get screw joint thread pitch. More...
virtual double	GetThreadPitch ()=0
	Get screw joint thread pitch. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load a ScrewJoint. More...
virtual void	SetThreadPitch (unsigned int _index, double _threadPitch) GAZEBO_DEPRECATED(3.0)=0
	Set screw joint thread pitch. More...
virtual void	SetThreadPitch (double _threadPitch)=0
	Set screw joint thread pitch. More...

Protected Member Functions
virtual void	Init ()
	Initialize joint. More...

Protected Attributes
double	threadPitch
	Pitch of the thread. More...

Detailed Description

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

A screw joint, which has both prismatic and rotational DOFs.

Constructor & Destructor Documentation

template<class T>

gazebo::physics::ScrewJoint< T >::ScrewJoint ( BasePtr  _parent)

inlineexplicit

Constructor.

Parameters

[in]

_parent

Parent of the joint.

template<class T>

virtual gazebo::physics::ScrewJoint< T >::~ScrewJoint ( )

inlinevirtual

Destructor.

Member Function Documentation

template<class T>

virtual unsigned int gazebo::physics::ScrewJoint< T >::GetAngleCount ( ) const

inlinevirtual

template<class T>

virtual double gazebo::physics::ScrewJoint< T >::GetThreadPitch ( unsigned int  _index)

pure virtual

Get screw joint thread pitch.

Thread Pitch is defined as angular motion per linear motion or rad / m in metric. This must be implemented in a child class

Parameters

[in]

_index

Index of the axis.

Returns

_threadPitch Thread pitch value.

Implemented in gazebo::physics::SimbodyScrewJoint, and gazebo::physics::DARTScrewJoint.

template<class T>

virtual double gazebo::physics::ScrewJoint< T >::GetThreadPitch ( )

pure virtual

Get screw joint thread pitch.

Thread Pitch is defined as angular motion per linear motion or rad / m in metric. This must be implemented in a child class

Returns

_threadPitch Thread pitch value.

Implemented in gazebo::physics::SimbodyScrewJoint, and gazebo::physics::DARTScrewJoint.

template<class T>

virtual void gazebo::physics::ScrewJoint< T >::Init ( )

inlineprotectedvirtual

Initialize joint.

Reimplemented in gazebo::physics::DARTScrewJoint.

template<class T>

virtual void gazebo::physics::ScrewJoint< T >::Load ( sdf::ElementPtr  _sdf)

inlinevirtual

Load a ScrewJoint.

Parameters

[in]

_sdf

SDF value to load from

Reimplemented in gazebo::physics::SimbodyScrewJoint, and gazebo::physics::DARTScrewJoint.

template<class T>

virtual void gazebo::physics::ScrewJoint< T >::SetThreadPitch ( unsigned int  _index, double  _threadPitch  )

pure virtual

Set screw joint thread pitch.

Thread Pitch is defined as angular motion per linear motion or rad / m in metric. This must be implemented in a child class Deprecated, please use the index-less version in the future: virtual void SetThreadPitch(double _threadPitch) = 0;

Parameters

[in]	_index	Index of the axis.
[in]	_threadPitch	Thread pitch value.

Implemented in gazebo::physics::SimbodyScrewJoint, and gazebo::physics::DARTScrewJoint.

template<class T>

virtual void gazebo::physics::ScrewJoint< T >::SetThreadPitch ( double  _threadPitch)

pure virtual

Set screw joint thread pitch.

Thread Pitch is defined as angular motion per linear motion or rad / m in metric. This must be implemented in a child class To clarify direction, these are modeling right handed threads with positive thread_pitch, i.e. the child Link is the nut (interior threads) while the parent Link is the bolt/screw (exterior threads).

Parameters

[in]

_threadPitch

Thread pitch value.

Implemented in gazebo::physics::SimbodyScrewJoint, and gazebo::physics::DARTScrewJoint.

Member Data Documentation

template<class T>

double gazebo::physics::ScrewJoint< T >::threadPitch

protected

Pitch of the thread.

---

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

• ScrewJoint.hh