Hinge2Joint.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A hinge joint with 2 degrees of freedom
 * Author: Nate Koenig, Andrew Howard
 * Date: 21 May 2003
 */

#ifndef HINGE2JOINT_HH
#define HINGE2JOINT_HH

#include "math/Angle.hh"
#include "math/Vector3.hh"
#include "physics/Joint.hh"

namespace gazebo
{
  namespace physics
  {

    template< class T>
    class Hinge2Joint : public T
    {
      public: Hinge2Joint(BasePtr _parent) : T(_parent)
              { this->AddType(Base::HINGE2_JOINT); }
      public: virtual ~Hinge2Joint()
              { }
      protected: virtual void Load(sdf::ElementPtr _sdf)
                 {
                   T::Load(_sdf);

                   this->SetAxis(0,
                       _sdf->GetElement("axis")->GetValueVector3("xyz"));

                   this->SetAxis(1,
                       _sdf->GetElement("axis2")->GetValueVector3("xyz"));
                 }
    };
  }
}
#endif