GearboxJoint< T > Class Template Reference

A double axis gearbox joint. More...

#include <physics/physics.hh>

Inherits T.

Public Member Functions
	GearboxJoint (BasePtr _parent)
	Constructor. More...
virtual	~GearboxJoint ()
	Destructor. More...
virtual unsigned int	DOF () const
virtual void	FillMsg (msgs::Joint &_msg)
virtual double	GetGearboxRatio () const
	Get gearbox joint gear ratio. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load joint. More...
virtual void	SetGearboxRatio (double _gearRatio)=0
	Set gearbox joint gear ratio. More...

Protected Member Functions
virtual void	Init ()
	Initialize joint. More...

Protected Attributes
double	gearRatio
	Gearbox gearRatio. More...
std::string	referenceBody
	reference link/body for computing joint angles More...

Detailed Description

template<class T>
class gazebo::physics::GearboxJoint< T >

A double axis gearbox joint.

Constructor & Destructor Documentation

GearboxJoint ( BasePtr  _parent )

inlineexplicit

Constructor.

Parameters

[in]

_parent

Parent link

virtual ~GearboxJoint ( )

inlinevirtual

Destructor.

Member Function Documentation

virtual unsigned int DOF ( ) const

inlinevirtual

virtual void FillMsg ( msgs::Joint &  _msg )

inlinevirtual

virtual double GetGearboxRatio ( ) const

inlinevirtual

Get gearbox joint gear ratio.

Returns

Gear ratio value.

virtual void Init ( )

inlineprotectedvirtual

Initialize joint.

Reimplemented in ODEGearboxJoint.

virtual void Load ( sdf::ElementPtr  _sdf )

inlinevirtual

Load joint.

Parameters

[in]

_sdf

Pointer to SDF element

Reimplemented in ODEGearboxJoint.

virtual void SetGearboxRatio ( double  _gearRatio )

pure virtual

Set gearbox joint gear ratio.

This must be implemented in a child class

Parameters

[in]	_index	Index of the axis.
[in]	_gearRatio	Gear ratio value.

Implemented in ODEGearboxJoint.

Member Data Documentation

double gearRatio

protected

Gearbox gearRatio.

Referenced by GearboxJoint< ODEJoint >::FillMsg(), GearboxJoint< ODEJoint >::GetGearboxRatio(), and GearboxJoint< ODEJoint >::Load().

std::string referenceBody

protected

reference link/body for computing joint angles

Referenced by GearboxJoint< ODEJoint >::FillMsg(), and GearboxJoint< ODEJoint >::Load().

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The documentation for this class was generated from the following file:

• GearboxJoint.hh