18 #ifndef _GAZEBO_ODEFIXEDJOINT_HH_
19 #define _GAZEBO_ODEFIXEDJOINT_HH_
44 public:
virtual void Load(sdf::ElementPtr _sdf);
47 public:
virtual ignition::math::Vector3d Anchor(
48 const unsigned int _index)
const;
51 public:
virtual void SetAnchor(
const unsigned int _index,
52 const ignition::math::Vector3d &_anchor);
55 public:
virtual ignition::math::Vector3d GlobalAxis(
56 const unsigned int _index)
const;
59 public:
virtual void SetAxis(
const unsigned int _index,
60 const ignition::math::Vector3d &_axis);
63 public:
virtual double PositionImpl(
const unsigned int _index)
const;
66 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
69 public:
virtual double GetVelocity(
unsigned int _index)
const;
75 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
A fixed joint.
Definition: ODEFixedJoint.hh:33
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77