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gazebo
physics
BallJoint.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A ball joint
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* Author: Nate Koenig, Andrew Howard
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* Date: 21 May 2003
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*/
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#ifndef _BALLJOINT_HH_
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#define _BALLJOINT_HH_
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#include "
Joint.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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template
<
class
T>
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class
BallJoint
:
public
T
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{
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public
:
explicit
BallJoint
(
BasePtr
_parent) : T(_parent)
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{
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this->AddType(
Base::BALL_JOINT
);
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}
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public
:
virtual
~BallJoint
()
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{
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}
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public
:
void
Load
(
sdf::ElementPtr
_sdf)
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{T::Load(_sdf);}
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public
:
virtual
void
SetAxis
(
int
/*_index*/
,
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const
math::Vector3
&
/*_axis*/
) {}
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public
:
virtual
void
SetHighStop
(
int
/*_index*/
,
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math::Angle
/*_angle*/
) {}
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public
:
virtual
void
SetLowStop
(
int
/*_index*/
,
math::Angle
/*_angle*/
) {}
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public
:
virtual
math::Angle
GetHighStop
(
int
/*_index*/
)
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{
return
math::Angle
();}
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public
:
virtual
math::Angle
GetLowStop
(
int
/*_index*/
)
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{
return
math::Angle
();}
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public
:
virtual
unsigned
int
GetAngleCount
()
const
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{
return
0;}
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};
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}
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}
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#endif