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18 #ifndef _GAZEBO_DARTUNIVERSALJOINT_HH_
19 #define _GAZEBO_DARTUNIVERSALJOINT_HH_
44 public:
virtual void Load(sdf::ElementPtr _sdf);
47 public:
virtual void Init();
50 public:
virtual ignition::math::Vector3d GlobalAxis(
51 const unsigned int _index)
const;
54 public:
virtual void SetAxis(
const unsigned int _index,
55 const ignition::math::Vector3d &_axis);
virtual void Init()
Initialize joint.
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual ~DARTUniversalJoint()
Destuctor.
A universal joint.
Definition: DARTUniversalJoint.hh:33
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual void Load(sdf::ElementPtr _sdf)
Load a UniversalJoint.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A universal joint. Axis1 and axis2 are body-fixed, with axis1 attached to parent body and axis2 attac...
Definition: UniversalJoint.hh:35
DARTUniversalJoint(BasePtr _parent)
Constructor.