ODEJoint Class Reference

ODE joint interface. More...

#include <ODEJoint.hh>

Inheritance diagram for ODEJoint:

List of all members.

Public Member Functions
	ODEJoint ()
	Constructor.
virtual	~ODEJoint ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load a joint.
virtual LinkPtr	GetJointLink (int index) const
	Get the link to which the joint is attached according the _index.
virtual bool	AreConnected (LinkPtr one, LinkPtr two) const
	Determines of the two bodies are connected by a joint.
virtual double	GetParam (int) const
	The default function does nothing.
virtual void	Attach (LinkPtr parent, LinkPtr child)
	Attach the two bodies with this joint.
virtual void	Detach ()
	Detach this joint from all bodies.
virtual void	SetParam (int, double)
	By default this does nothing.
void	SetERP (double newERP)
	Set the ERP of this joint.
double	GetERP ()
	Get the ERP of this joint.
void	SetCFM (double newCFM)
	Set the CFM of this joint.
double	GetCFM ()
	Get the ERP of this joint.
dJointFeedback *	GetFeedback ()
	Get the feedback data structure for this joint, if set.
virtual void	SetHighStop (int index, math::Angle angle)
	Set the high stop of an axis(index).
virtual void	SetLowStop (int index, math::Angle angle)
	Set the low stop of an axis(index).
virtual math::Angle	GetHighStop (int index)
	Get the high stop of an axis(index).
virtual math::Angle	GetLowStop (int index)
	Get the low stop of an axis(index).
virtual math::Vector3	GetLinkForce (unsigned int index) const
	Get the force the joint applies to the first link.
virtual math::Vector3	GetLinkTorque (unsigned int index) const
	Get the torque the joint applies to the first link.
virtual void	SetAttribute (Attribute, int index, double value)
	Set a parameter for the joint.
virtual void	Reset ()
	Reset the joint.
Protected Attributes
dJointID	jointId
	This is our id.

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Detailed Description

ODE joint interface.

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Member Function Documentation

virtual math::Vector3 GetLinkForce

(

unsigned int

index

)

const [virtual]

Get the force the joint applies to the first link.

Parameters:

index

The index of the link( 0 or 1 )

Implements Joint.

virtual math::Vector3 GetLinkTorque

(

unsigned int

index

)

const [virtual]

Get the torque the joint applies to the first link.

Parameters:

index

The index of the link( 0 or 1 )

Implements Joint.

virtual double GetParam

(

int

)

const [virtual]

The default function does nothing.

This should be overriden in the child classes where appropriate

Reimplemented in ODEHinge2Joint, ODEHingeJoint, ODEScrewJoint, and ODESliderJoint.

virtual void SetParam	(	int	,
		double
	)		[virtual]

By default this does nothing.

It should be overridden in child classes where appropriate

Reimplemented in ODEHinge2Joint, ODEHingeJoint, ODEScrewJoint, ODESliderJoint, and ODEUniversalJoint.

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

• ODEJoint.hh