| 58 |  | virtual void setType(char* type) = 0; | 
| 59 |  | virtual char* getType() = 0; | 
| 60 |  |  | 
| 61 | – |  | 
| 61 |  | virtual void   getTrq(double trq[3]); | 
| 62 |  | virtual void   addTrq(double trq[3]); | 
| 63 |  |  | 
| 68 |  | virtual void   setEuler(double phi, double theta, double psi); | 
| 69 |  | virtual void   getEulerAngles(double eulers[3]); | 
| 70 |  |  | 
| 71 | < | virtual bool isLinear() {return false;} | 
| 72 | < | virtual int linearAxis() {return -1;} | 
| 71 | > | virtual bool isLinear() { return false;} | 
| 72 | > | virtual int linearAxis() { return -1; } | 
| 73 |  |  | 
| 74 |  | virtual double   getZangle(); | 
| 75 |  | virtual void   setZangle(double zAngle); |