01542     }
    [01543](classGazeboROSNode.html#aa9b304e861549696923ab5b03ea84ae0)     bool [clearJointForces](classGazeboROSNode.html#a79ad3a609931f0e04b497126d5ae49d7)(std::string joint_name)
    01544     {
    01545       bool [search](../../../api/roscpp/html/namespaceros_1_1param.html#a1e965b3e54361ce6aec27df988965425) = true;
    01546       this->[lock_](classGazeboROSNode.html#a3895043c9355e3e2a23f84efe0060736 "A mutex to lock access to fields that are used in ROS message callbacks.").lock();
    01547       while(search)
    01548       {
    01549         search = false;
    01550         for (std::vector<GazeboROSNode::ForceJointJob*>::iterator iter=this->[force_joint_jobs](classGazeboROSNode.html#a22ab41eec754d289d8c56f05045f480e).begin();iter!=this->[force_joint_jobs](classGazeboROSNode.html#a22ab41eec754d289d8c56f05045f480e).end();iter++)
    01551         {
    01552           if ((*iter)->joint->GetName() == joint_name)
    01553           {
    01554             // found one, search through again
    01555             search = true;
    01556             delete (*iter);
    01557             this->[force_joint_jobs](classGazeboROSNode.html#a22ab41eec754d289d8c56f05045f480e).erase(iter);
    01558             break;
    01559           }
    01560         }
    01561       }
    01562       this->[lock_](classGazeboROSNode.html#a3895043c9355e3e2a23f84efe0060736 "A mutex to lock access to fields that are used in ROS message callbacks.").unlock();
    01563       return true;
    01564     }
    01565 
    [01568](classGazeboROSNode.html#a8434da6f0a95fe58cceaf5518c906a8b)     bool [clearBodyWrenches](classGazeboROSNode.html#a8434da6f0a95fe58cceaf5518c906a8b)([gazebo_msgs::BodyRequest::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1BodyRequestRequest__.html) &req,[gazebo_msgs::BodyRequest::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1BodyRequestResponse__.html) &res)
    01569     {
    01570       return this->[clearBodyWrenches](classGazeboROSNode.html#a8434da6f0a95fe58cceaf5518c906a8b)(req.[body_name](../../gazebo_msgs/html/structgazebo__msgs_1_1BodyRequestRequest__.html#a60de029992633ee1bd700fc6e6d5cd95));
    01571     }
    [01572](classGazeboROSNode.html#abbde137ee10f1211fc262720e10432b1)     bool [clearBodyWrenches](classGazeboROSNode.html#a8434da6f0a95fe58cceaf5518c906a8b)(std::string body_name)
    01573     {
    01574       bool [search](../../../api/roscpp/html/namespaceros_1_1param.html#a1e965b3e54361ce6aec27df988965425) = true;
    01575       this->[lock_](classGazeboROSNode.html#a3895043c9355e3e2a23f84efe0060736 "A mutex to lock access to fields that are used in ROS message callbacks.").lock();
    01576       while(search)
    01577       {
    01578         search = false;
    01579         for (std::vector<GazeboROSNode::WrenchBodyJob*>::iterator iter=this->[wrench_body_jobs](classGazeboROSNode.html#ade2831b1970d2ceed871e82a9140c2bb).begin();iter!=this->[wrench_body_jobs](classGazeboROSNode.html#ade2831b1970d2ceed871e82a9140c2bb).end();iter++)
    01580         {
    01581           //ROS_ERROR("search %s %s",(*iter)->body->GetScopedName().c_str(), body_name.c_str());
    01582           if ((*iter)->body->GetScopedName() == body_name)
    01583           {