ScrewJoint< T > Class Template Referenceabstract

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

#include <physics/physics.hh>

Inherits T.

Public Member Functions

 ScrewJoint (BasePtr _parent)
 Constructor. More...
 
virtual ~ScrewJoint ()
 Destructor. More...
 
virtual unsigned int DOF () const
 
virtual void FillMsg (msgs::Joint &_msg)
 
virtual double GetThreadPitch ()=0
 Get screw joint thread pitch. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load a ScrewJoint. More...
 
virtual void SetThreadPitch (double _threadPitch)=0
 Set screw joint thread pitch. More...
 

Protected Member Functions

virtual void Init ()
 Initialize joint. More...
 

Protected Attributes

double threadPitch
 Pitch of the thread. More...
 

Detailed Description

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

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

Constructor & Destructor Documentation

ScrewJoint ( BasePtr  _parent)
inlineexplicit

Constructor.

Parameters
[in]_parentParent of the joint.
virtual ~ScrewJoint ( )
inlinevirtual

Destructor.

Member Function Documentation

virtual unsigned int DOF ( ) const
inlinevirtual
virtual void FillMsg ( msgs::Joint &  _msg)
inlinevirtual
virtual double GetThreadPitch ( )
pure virtual

Get screw joint thread pitch.

Thread Pitch is defined as angular motion per linear motion or rad / m in metric. This must be implemented in a child class

Returns
_threadPitch Thread pitch value.

Implemented in BulletScrewJoint, SimbodyScrewJoint, DARTScrewJoint, and ODEScrewJoint.

Referenced by ScrewJoint< BulletJoint >::Load().

virtual void Init ( )
inlineprotectedvirtual

Initialize joint.

Reimplemented in BulletScrewJoint, and DARTScrewJoint.

virtual void Load ( sdf::ElementPtr  _sdf)
inlinevirtual

Load a ScrewJoint.

Parameters
[in]_sdfSDF value to load from

Reimplemented in BulletScrewJoint, SimbodyScrewJoint, DARTScrewJoint, and ODEScrewJoint.

virtual void SetThreadPitch ( double  _threadPitch)
pure virtual

Set screw joint thread pitch.

Thread Pitch is defined as angular motion per linear motion or rad / m in metric. This must be implemented in a child class To clarify direction, these are modeling right handed threads with positive thread_pitch, i.e. the child Link is the nut (interior threads) while the parent Link is the bolt/screw (exterior threads).

Parameters
[in]_threadPitchThread pitch value.

Implemented in BulletScrewJoint, SimbodyScrewJoint, DARTScrewJoint, and ODEScrewJoint.

Referenced by ScrewJoint< BulletJoint >::Load().

Member Data Documentation

double threadPitch
protected

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