##

UniversalJoint< T > Class Template Reference
Physics

A universal joint. Axis1 and axis2 are body-fixed, with axis1 attached to parent body and axis2 attached to child body. More...

`#include <physics/physics.hh>`

Inherits T.

## Public Types

enum | AxisIndex { AXIS_PARENT = 0, AXIS_CHILD = 1 }
| Map joint axes to corresponding link. More...

## Public Member Functions

| UniversalJoint (BasePtr _parent)
| Constructor. More...
virtual | ~UniversalJoint ()
| Destuctor. More...
virtual unsigned int | DOF () const
virtual void | Load (sdf::ElementPtr _sdf)
| Load a UniversalJoint. More...

## Protected Member Functions

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

## Detailed Description

### template<class T>
class gazebo::physics::UniversalJoint< T >

A universal joint. Axis1 and axis2 are body-fixed, with axis1 attached to parent body and axis2 attached to child body.

## Member Enumeration Documentation

## AxisIndex

enum AxisIndex

Map joint axes to corresponding link.

Enumerator
AXIS_PARENT |
AXIS_CHILD |

## Constructor & Destructor Documentation

## UniversalJoint()

UniversalJoint | ( | BasePtr | _parent | ) |

inline explicit

Constructor.

Parameters

  [in] | _parent | Parent link of the univeral joint.

## ~UniversalJoint()

virtual ~UniversalJoint | ( |  | ) |

inline virtual

Destuctor.

## Member Function Documentation

## DOF()

virtual unsigned int DOF | ( |  | ) | const

inline virtual

## Init()

virtual void Init | ( |  | ) |

inline protected virtual

Initialize joint.

Reimplemented in BulletUniversalJoint, and DARTUniversalJoint.

## Load()

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

inline virtual

Load a UniversalJoint.

Parameters

  [in] | _sdf | SDF values to load from.

Reimplemented in BulletUniversalJoint, SimbodyUniversalJoint, and DARTUniversalJoint.

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

- UniversalJoint.hh