18 #ifndef _ODEGEARBOXJOINT_HH_
19 #define _ODEGEARBOXJOINT_HH_
45 public:
virtual void Load(sdf::ElementPtr _sdf);
48 public:
virtual void Init();
51 public:
virtual ignition::math::Vector3d Anchor(
52 const unsigned int _index)
const;
55 public:
virtual void SetAnchor(
const unsigned int _index,
56 const ignition::math::Vector3d &_anchor);
59 public:
virtual ignition::math::Vector3d GlobalAxis(
60 const unsigned int _index)
const;
63 public:
virtual void SetAxis(
const unsigned int _index,
64 const ignition::math::Vector3d &_axis);
67 public:
virtual void SetGearboxRatio(
double _gearRatio);
70 public:
virtual double PositionImpl(
const unsigned int _index)
const;
73 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
76 public:
virtual double GetVelocity(
unsigned int _index)
const;
79 public:
virtual double GetParam(
unsigned int _parameter)
const;
82 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
85 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
89 private:
void SetReferenceBody(
LinkPtr _body);
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
A double axis gearbox joint.
Definition: ODEGearboxJoint.hh:34
A double axis gearbox joint.
Definition: GearboxJoint.hh:42
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77