ScrewJoint< T > Class Template Reference

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

#include <physics/physics.hh>

Inherits T.

Public Member Functions
	ScrewJoint (BasePtr _parent)
	Constructor. More...
virtual	~ScrewJoint ()
	Destructor. More...
virtual unsigned int	DOF () const
virtual void	FillMsg (msgs::Joint &_msg)
virtual double	GetThreadPitch ()=0
	Get screw joint thread pitch. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load a ScrewJoint. 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

ScrewJoint ( BasePtr  _parent )

inlineexplicit

Constructor.

Parameters

[in]

_parent

Parent of the joint.

virtual ~ScrewJoint ( )

inlinevirtual

Destructor.

Member Function Documentation

virtual unsigned int DOF ( ) const

inlinevirtual

virtual void FillMsg ( msgs::Joint &  _msg )

inlinevirtual

virtual double 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 BulletScrewJoint, SimbodyScrewJoint, DARTScrewJoint, and ODEScrewJoint.

virtual void Init ( )

inlineprotectedvirtual

Initialize joint.

Reimplemented in BulletScrewJoint, and DARTScrewJoint.

virtual void Load ( sdf::ElementPtr  _sdf )

inlinevirtual

Load a ScrewJoint.

Parameters

[in]

_sdf

SDF value to load from

Reimplemented in BulletScrewJoint, SimbodyScrewJoint, DARTScrewJoint, and ODEScrewJoint.

virtual void 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 BulletScrewJoint, SimbodyScrewJoint, DARTScrewJoint, and ODEScrewJoint.

Member Data Documentation

double threadPitch

protected

Pitch of the thread.

Referenced by ScrewJoint< BulletJoint >::FillMsg(), and ScrewJoint< BulletJoint >::Load().

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

• ScrewJoint.hh