Does Joint::GetForce() return the sum of all forces on the joint?
In Gazebo, does Joint::GetForce() return the last value specified by Joint::SetForce(), after clipping the value to the limit set by Joint::SetMaxForce()? Alternatively, does Joint::GetForce() return the sum of all forces on the joint? The comment in Joint.hh says only, "Get the force applied to an axis." I could not find any more documentation in http://playerstage.sourceforge.net/do... . In fact, the documentation at that URL does not include Joint::GetForce(). I'm writing a Gazebo plug-in to steer a wheel on an autonomous vehicle, and want to know whether the force returned by Joint::GetForce() includes only the force my plug-in has applied to the wheel, or whether it also contains the force applied, for example, by a curb that the wheel has hit.