22 #ifndef _ODEBALLJOINT_HH_
23 #define _ODEBALLJOINT_HH_
48 public:
virtual ignition::math::Vector3d Anchor(
49 const unsigned int _index)
const;
52 public:
virtual void SetAnchor(
const unsigned int _index,
53 const ignition::math::Vector3d &_anchor);
56 public:
virtual ignition::math::Vector3d GlobalAxis(
57 const unsigned int _index)
const;
60 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
63 public:
virtual double GetVelocity(
unsigned int _index)
const;
66 public:
virtual double PositionImpl(
const unsigned int _index)
const;
69 public:
virtual void SetAxis(
const unsigned int _index,
70 const ignition::math::Vector3d &_axis);
73 public:
virtual double UpperLimit(
const unsigned int _index)
const;
76 public:
virtual double LowerLimit(
const unsigned int _index)
const;
79 public:
virtual void SetUpperLimit(
const unsigned int _index,
83 public:
virtual void SetLowerLimit(
const unsigned int _index,
87 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
An ODEBallJoint.
Definition: ODEBallJoint.hh:37
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Base class for a ball joint.
Definition: BallJoint.hh:40