01280       // stuff only works in ODE right now
    01281       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[auto_disable_bodies](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#af4555ca9c1ede8b07fc50cd2a2008f65) = gazebo::World::Instance()->GetPhysicsEngine()->GetAutoDisableFlag();
    01282       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[sor_pgs_precon_iters](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a3c1b3fedf2a622faaec46676570eb3bc) = gazebo::World::Instance()->GetPhysicsEngine()->GetSORPGSPreconIters();
    01283       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[sor_pgs_iters](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a0426be3e2cd9c192b511f0f6c2fe8f52) = gazebo::World::Instance()->GetPhysicsEngine()->GetSORPGSIters();
    01284       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[sor_pgs_rms_error_tol](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#afc440eb7f5da3792d00114fb3edf1edc) = gazebo::World::Instance()->GetPhysicsEngine()->GetRMSErrorTolerance();
    01285       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[sor_pgs_w](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a217a5bc35754775e2e27be8fce736fed) = gazebo::World::Instance()->GetPhysicsEngine()->GetSORPGSW();
    01286       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[contact_surface_layer](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a37d70bee50b3f628b6b7271c9792d6b5) = gazebo::World::Instance()->GetPhysicsEngine()->GetContactSurfaceLayer();
    01287       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[contact_max_correcting_vel](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#af0c9a9a7e12ab8d902fb1930497b156d) = gazebo::World::Instance()->GetPhysicsEngine()->GetContactMaxCorrectingVel();
    01288       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[cfm](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#abd023dd5214874a3dc73ff35db1676e3) = gazebo::World::Instance()->GetPhysicsEngine()->GetWorldCFM();
    01289       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[erp](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a229fd2dd48856e64045104fab4caf707) = gazebo::World::Instance()->GetPhysicsEngine()->GetWorldERP();
    01290       res.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ac462f68d51f1728d1dd2785ad9205542).[max_contacts](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a6e9643a7c7db7222eb0eb8d54d29473e) = gazebo::World::Instance()->GetPhysicsEngine()->GetMaxContacts();
    01291 
    01292       res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#aa7e7302e0e30fb4e0aa16f081d21f14e) = true;
    01293       res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#a0e6808f37adb340db2fdcdf72a39c77c) = "GetPhysicsProperties: got properties";
    01294       return true;
    01295     }
    01296 
    [01299](classGazeboROSNode.html#a95acae858b94081270cfe0bf737ebe3e)     bool [setJointProperties](classGazeboROSNode.html#a95acae858b94081270cfe0bf737ebe3e)([gazebo_msgs::SetJointProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html) &req,[gazebo_msgs::SetJointProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesResponse__.html) &res)
    01300     {
    01304       gazebo::Joint* joint = NULL;
    01305       const std::vector<gazebo::Model*> models = gazebo::World::Instance()->GetModels();
    01306       for (std::vector<gazebo::Model*>::const_iterator miter = models.begin(); miter != models.end(); miter++)
    01307       {
    01308         joint = (*miter)->GetJoint(req.[joint_name](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a5a2e3d8206c200250d9dbd502d373c3e));
    01309         if (joint) break;
    01310       }
    01311 
    01312       if (joint == NULL)
    01313       {
    01314         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesResponse__.html#a096c5a5c26c0786b03971c3f9ec2b895) = false;
    01315         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesResponse__.html#a49f3349c2fc084eb75ed189b49d8da9d) = "SetJointProperties: joint not found";
    01316         return false;
    01317       }
    01318       else
    01319       {
    01320         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[damping](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#ab0382d947d974e1a55d9e10eae1f3520).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01321           joint->SetDamping([i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[damping](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#ab0382d947d974e1a55d9e10eae1f3520)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01322         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[hiStop](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a3aca5a03f65a3709d121d5e51dde73e8).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01323           joint->SetAttribute(gazebo::Joint::HI_STOP,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[hiStop](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a3aca5a03f65a3709d121d5e51dde73e8)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01324         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[loStop](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a74f82eb47721f4e8ee30834a7cc72035).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)