18 #ifndef _GAZEBO_DARTSCREWJOINT_HH_
19 #define _GAZEBO_DARTSCREWJOINT_HH_
40 public:
virtual void Load(sdf::ElementPtr _sdf);
43 public:
virtual math::Vector3 GetAnchor(
unsigned int _index)
const;
46 public:
virtual void SetAnchor(
unsigned int _index,
50 public:
virtual void Init();
53 public:
virtual math::Vector3 GetGlobalAxis(
unsigned int _index)
const;
56 public:
virtual void SetAxis(
unsigned int _index,
60 public:
virtual void SetThreadPitch(
unsigned int _index,
64 public:
virtual void SetThreadPitch(
double _threadPitch);
67 public:
virtual double GetThreadPitch(
unsigned int _index);
70 public:
virtual double GetThreadPitch();
73 public:
virtual math::Angle GetAngleImpl(
unsigned int _index)
const;
76 public:
virtual double GetVelocity(
unsigned int _index)
const;
79 public:
virtual void SetVelocity(
unsigned int _index,
double _vel);
82 public:
virtual void SetMaxForce(
unsigned int _index,
double _force);
85 public:
virtual double GetMaxForce(
unsigned int _index);
88 public:
virtual math::Angle GetHighStop(
unsigned int _index);
91 public:
virtual math::Angle GetLowStop(
unsigned int _index);
94 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:65
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
dart::dynamics::ScrewJoint * dartScrewJoint
Universal joint of DART.
Definition: DARTScrewJoint.hh:97
A screw joint.
Definition: DARTScrewJoint.hh:30
A screw joint, which has both prismatic and rotational DOFs.
Definition: ScrewJoint.hh:39
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
An angle and related functions.
Definition: Angle.hh:52
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48