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Hinge2Joint.hh
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1 /*
2  * Copyright 2012 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 hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _HINGE2JOINT_HH_
23 #define _HINGE2JOINT_HH_
24 
25 #include "gazebo/math/Angle.hh"
26 #include "gazebo/math/Vector3.hh"
27 #include "gazebo/physics/Joint.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
38  template< class T>
39  class Hinge2Joint : public T
40  {
43  public: explicit Hinge2Joint(BasePtr _parent) : T(_parent)
44  {this->AddType(Base::HINGE2_JOINT);}
45 
47  public: virtual ~Hinge2Joint()
48  { }
49 
51  public: virtual unsigned int GetAngleCount() const
52  {return 2;}
53 
56  public: virtual void Load(sdf::ElementPtr _sdf)
57  {
58  T::Load(_sdf);
59 
60  this->SetAxis(0,
61  _sdf->GetElement("axis")->GetValueVector3("xyz"));
62 
63  this->SetAxis(1,
64  _sdf->GetElement("axis2")->GetValueVector3("xyz"));
65  }
66  };
68  }
69 }
70 #endif