17 #ifndef _ODESCREWJOINT_HH_
18 #define _ODESCREWJOINT_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 void SetThreadPitch(
unsigned int _index,
67 public:
virtual void SetThreadPitch(
double _threadPitch);
70 public:
virtual double GetThreadPitch(
unsigned int _index);
73 public:
virtual double GetThreadPitch();
76 public:
virtual double PositionImpl(
const unsigned int _index)
const;
79 public:
virtual double GetVelocity(
unsigned int _index)
const;
82 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
85 public:
virtual double GetParam(
unsigned int _parameter)
const;
88 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
91 public:
virtual bool SetParam(
const std::string &_key,
93 const boost::any &_value);
96 public:
virtual double GetParam(
const std::string &_key,
100 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
A screw joint.
Definition: ODEScrewJoint.hh:33
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77