GearboxJoint< T > Class Template Referenceabstract

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)
inline

Constructor.

Parameters
[in]_parentParent 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]_sdfPointer 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]_indexIndex of the axis.
[in]_gearRatioGear ratio value.

Implemented in ODEGearboxJoint.

Referenced by GearboxJoint< ODEJoint >::GetGearboxRatio().

Member Data Documentation

std::string referenceBody
protected

reference link/body for computing joint angles

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


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