##

GearboxJoint< T > Class Template Referenceabstract
Physics

A double axis gearbox joint. More...

`#include <physics/physics.hh>`

Inherits T.

## Public Member Functions

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

## Protected Member Functions

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

## Protected Attributes

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

## Detailed Description

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

A double axis gearbox joint.

## Constructor & Destructor Documentation

## GearboxJoint()

GearboxJoint | ( | BasePtr | _parent | ) |

inline explicit

Constructor.

Parameters

  [in] | _parent | Parent link

## ~GearboxJoint()

virtual ~GearboxJoint | ( |  | ) |

inline virtual

Destructor.

## Member Function Documentation

## DOF()

virtual unsigned int DOF | ( |  | ) | const

inline virtual

## FillMsg()

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

inline virtual

## GetGearboxRatio()

virtual double GetGearboxRatio | ( |  | ) | const

inline virtual

Get gearbox joint gear ratio.

Returns
  Gear ratio value.

## Init()

virtual void Init | ( |  | ) |

inline protected virtual

Initialize joint.

Reimplemented in ODEGearboxJoint.

## Load()

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

inline virtual

Load joint.

Parameters

  [in] | _sdf | Pointer to SDF element

Reimplemented in ODEGearboxJoint.

## SetGearboxRatio()

virtual void SetGearboxRatio | ( | double | _gearRatio | ) |

pure virtual

Set gearbox joint gear ratio.

This must be implemented in a child class

Parameters

  [in] | _index | Index of the axis.
  [in] | _gearRatio | Gear ratio value.

Implemented in ODEGearboxJoint.

## Member Data Documentation

## gearRatio

double gearRatio

protected

Gearbox gearRatio.

Referenced by GearboxJoint< ODEJoint >::FillMsg(), GearboxJoint< ODEJoint >::GetGearboxRatio(), and GearboxJoint< ODEJoint >::Load().

## referenceBody

std::string referenceBody

protected

reference link/body for computing joint angles

Referenced by GearboxJoint< ODEJoint >::FillMsg(), and GearboxJoint< ODEJoint >::Load().

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

- GearboxJoint.hh