A double axis gearbox joint. More...

#include <physics/physics.hh>

Inherits T.

Public Member Functions

 GearboxJoint (BasePtr _parent)
 Constructor.
 
virtual ~GearboxJoint ()
 Destructor.
 
virtual unsigned int DOF () const
 
virtual void FillMsg (msgs::Joint &_msg)
 
virtual double GetGearboxRatio () const
 Get gearbox joint gear ratio.
 
virtual void Load (sdf::ElementPtr _sdf)
 Load joint.
 
virtual void SetGearboxRatio (double _gearRatio)=0
 Set gearbox joint gear ratio.
 

Protected Member Functions

virtual void Init ()
 Initialize joint.
 

Protected Attributes

double gearRatio
 Gearbox gearRatio.
 
std::string referenceBody
 reference link/body for computing joint angles
 

Detailed Description

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

A double axis gearbox joint.

Constructor & Destructor Documentation

◆ GearboxJoint()

template<class T>
GearboxJoint ( BasePtr _parent)
inlineexplicit

Constructor.

Parameters
[in]_parentParent link

References Base::GEARBOX_JOINT, and gearRatio.

◆ ~GearboxJoint()

template<class T>
virtual ~GearboxJoint ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ DOF()

template<class T>
virtual unsigned int DOF ( ) const
inlinevirtual

◆ FillMsg()

template<class T>
virtual void FillMsg ( msgs::Joint & _msg)
inlinevirtual

◆ GetGearboxRatio()

template<class T>
virtual double GetGearboxRatio ( ) const
inlinevirtual

Get gearbox joint gear ratio.

Returns
Gear ratio value.

References gearRatio.

◆ Init()

template<class T>
virtual void Init ( )
inlineprotectedvirtual

Initialize joint.

Reimplemented in ODEGearboxJoint.

◆ Load()

template<class T>
virtual void Load ( sdf::ElementPtr _sdf)
inlinevirtual

Load joint.

Parameters
[in]_sdfPointer to SDF element

Reimplemented in ODEGearboxJoint.

References gearRatio, gzerr, and referenceBody.

◆ SetGearboxRatio()

template<class T>
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.

Member Data Documentation

◆ gearRatio

template<class T>
double gearRatio
protected

Gearbox gearRatio.

Referenced by GearboxJoint(), FillMsg(), GetGearboxRatio(), and Load().

◆ referenceBody

template<class T>
std::string referenceBody
protected

reference link/body for computing joint angles

Referenced by FillMsg(), and Load().


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