##

ScrewJoint< T > Class Template Referenceabstract
Physics

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()

ScrewJoint | ( | BasePtr | _parent | ) |

inline explicit

Constructor.

Parameters

  [in] | _parent | Parent of the joint.

## ~ScrewJoint()

virtual ~ScrewJoint | ( |  | ) |

inline virtual

Destructor.

## Member Function Documentation

## DOF()

virtual unsigned int DOF | ( |  | ) | const

inline virtual

## FillMsg()

virtual void FillMsg | ( | msgs::Joint & | _msg | ) |

inline virtual

## GetThreadPitch()

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 DARTScrewJoint, BulletScrewJoint, SimbodyScrewJoint, and ODEScrewJoint.

## Init()

virtual void Init | ( |  | ) |

inline protected virtual

Initialize joint.

Reimplemented in DARTScrewJoint, and BulletScrewJoint.

## Load()

virtual void Load | ( | sdf::ElementPtr | _sdf | ) |

inline virtual

Load a ScrewJoint.

Parameters

  [in] | _sdf | SDF value to load from

Reimplemented in DARTScrewJoint, BulletScrewJoint, SimbodyScrewJoint, and ODEScrewJoint.

## SetThreadPitch()

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] | _threadPitch | Thread pitch value.

Implemented in DARTScrewJoint, BulletScrewJoint, SimbodyScrewJoint, and ODEScrewJoint.

## Member Data Documentation

## threadPitch

double threadPitch

protected

Pitch of the thread.

Referenced by ScrewJoint< BulletJoint >::FillMsg(), and ScrewJoint< BulletJoint >::Load().

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

- ScrewJoint.hh