17 #ifndef _GAZEBO_BULLETFIXEDJOINT_HH_
18 #define _GAZEBO_BULLETFIXEDJOINT_HH_
46 protected:
virtual void Load(sdf::ElementPtr _sdf);
49 public:
virtual void Init();
52 public:
virtual void SetAxis(
const unsigned int _index,
53 const ignition::math::Vector3d &_axis);
56 public:
virtual void SetVelocity(
unsigned int _index,
double _vel);
59 public:
virtual double GetVelocity(
unsigned int _index)
const;
62 public:
virtual void SetUpperLimit(
const unsigned int _index,
66 public:
virtual void SetLowerLimit(
const unsigned int _index,
70 public:
virtual ignition::math::Vector3d GlobalAxis(
71 const unsigned int _index)
const;
74 public:
virtual double PositionImpl(
const unsigned int _index)
const;
77 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
80 private: btHingeConstraint *bulletFixed;
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: BulletFixedJoint.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77