virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
SimbodyFixedJoint(SimTK::MultibodySystem *world, BasePtr _parent)
Constructor.
A fixed joint rigidly connecting two bodies.
Definition: SimbodyFixedJoint.hh:37
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual ~SimbodyFixedJoint()
Destructor.
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
SimTK::MultibodySystem * world
Simbody Multibody System.
Definition: SimbodyJoint.hh:221
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)