gazebo::physics::ScrewJoint< T > Class Template Reference

A screw joint, which has both prismatic and rotational DOFs. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::ScrewJoint< T >:

Public Member Functions
	ScrewJoint (BasePtr _parent)
	Constructor.
virtual	~ScrewJoint ()
	Destructor.
virtual math::Vector3	GetAnchor (int _index) const
	Get the anchor.
virtual unsigned int	GetAngleCount () const
virtual double	GetThreadPitch (unsigned int _index)=0
	Get screw joint thread pitch.
virtual void	Load (sdf::ElementPtr _sdf)
	Load a ScrewJoint.
virtual void	SetAnchor (int _index, const math::Vector3 &_anchor)
	Set the anchor.
virtual void	SetThreadPitch (int _index, double _threadPitch)=0
	Set screw joint thread pitch.

Protected Attributes
math::Vector3	fakeAnchor
	The anchor value is not used internally.
double	threadPitch
	Pitch of the thread.

Detailed Description

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

A screw joint, which has both prismatic and rotational DOFs.

Constructor & Destructor Documentation

template<class T >

gazebo::physics::ScrewJoint< T >::ScrewJoint ( BasePtr  _parent )

inlineexplicit

Constructor.

Parameters

[in]

_parent

Parent of the joint.

References gazebo::physics::Base::SCREW_JOINT.

template<class T >

virtual gazebo::physics::ScrewJoint< T >::~ScrewJoint ( )

inlinevirtual

Destructor.

Member Function Documentation

template<class T >

math::Vector3 gazebo::physics::ScrewJoint< T >::GetAnchor ( int  _index ) const

virtual

Get the anchor.

Parameters

[in]

_index

Index of the axis. Not Used.

Returns

Anchor for the joint.

template<class T >

virtual unsigned int gazebo::physics::ScrewJoint< T >::GetAngleCount ( ) const

inlinevirtual

template<class T >

virtual double gazebo::physics::ScrewJoint< T >::GetThreadPitch ( unsigned int  _index )

pure virtual

Get screw joint thread pitch.

This must be implemented in a child class

Parameters

[in]

_index

Index of the axis.

Returns

_threadPitch Thread pitch value.

template<class T >

virtual void gazebo::physics::ScrewJoint< T >::Load ( sdf::ElementPtr  _sdf )

inlinevirtual

Load a ScrewJoint.

Parameters

[in]

_sdf

SDF value to load from

References sdf::Element::GetElement(), sdf::Element::GetValueDouble(), sdf::Element::GetValueVector3(), gzerr, sdf::Element::HasElement(), and gazebo::physics::ScrewJoint< T >::threadPitch.

template<class T >

void gazebo::physics::ScrewJoint< T >::SetAnchor ( int  _index, const math::Vector3 &  _anchor  )

virtual

Set the anchor.

Parameters

[in]	_index	Index of the axis. Not Used.
[in]	_anchor	Anchor value for the joint.

template<class T >

virtual void gazebo::physics::ScrewJoint< T >::SetThreadPitch ( int  _index, double  _threadPitch  )

pure virtual

Set screw joint thread pitch.

This must be implemented in a child class

Parameters

[in]	_index	Index of the axis.
[in]	_threadPitch	Thread pitch value.

Member Data Documentation

template<class T >

math::Vector3 gazebo::physics::ScrewJoint< T >::fakeAnchor

protected

The anchor value is not used internally.

template<class T >

double gazebo::physics::ScrewJoint< T >::threadPitch

protected

Pitch of the thread.

Referenced by gazebo::physics::ScrewJoint< T >::Load().

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

• ScrewJoint.hh