17 #ifndef _ODEUNIVERSALJOINT_HH_
18 #define _ODEUNIVERSALJOINT_HH_
20 #include <boost/any.hpp>
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 SetAxis(
const unsigned int _index,
61 const ignition::math::Vector3d &_axis);
64 public:
virtual double PositionImpl(
const unsigned int _index)
const;
67 public:
virtual double GetVelocity(
unsigned int _index)
const;
70 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
73 public:
virtual void SetParam(
unsigned int _parameter,
double _value);
76 public:
virtual void SetUpperLimit(
const unsigned int _index,
80 public:
virtual void SetLowerLimit(
const unsigned int _index,
84 public:
virtual bool SetParam(
const std::string &_key,
86 const boost::any &_value);
89 public:
virtual double GetParam(
const std::string &_key,
93 public:
virtual double GetParam(
unsigned int _parameter)
const;
96 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
A universal joint.
Definition: ODEUniversalJoint.hh:36
A universal joint.
Definition: UniversalJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77