All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
SliderJoint.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2011 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A slider or primastic joint
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef SLIDERJOINT_HH
23 #define SLIDERJOINT_HH
24 
25 #include <float.h>
26 #include "physics/Joint.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  template<class T>
37  class SliderJoint : public T
38  {
40  public: SliderJoint(BasePtr _parent) : T(_parent)
41  { this->AddType(Base::SLIDER_JOINT); }
42 
44  public: virtual ~SliderJoint()
45  {}
46 
48  protected: virtual void Load(sdf::ElementPtr _sdf)
49  { T::Load(_sdf); }
50 
52  public: virtual void SetAnchor(int /*_index*/,
53  const math::Vector3 &_anchor)
54  {this->fakeAnchor = _anchor;}
55 
57  public: virtual math::Vector3 GetAnchor(int /*_index*/) const
58  {return this->fakeAnchor;}
59 
61  };
63  }
64 }
65 #endif
66 
67