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gazebo
physics
SliderJoint.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 slider or primastic 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 _SLIDERJOINT_HH_
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#define _SLIDERJOINT_HH_
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#include "
gazebo/physics/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
SliderJoint
:
public
T
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{
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public
:
explicit
SliderJoint
(
BasePtr
_parent) : T(_parent)
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{this->AddType(
Base::SLIDER_JOINT
);}
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public
:
virtual
~SliderJoint
()
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{}
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public
:
virtual
void
Load
(
sdf::ElementPtr
_sdf)
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{T::Load(_sdf);}
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public
:
virtual
unsigned
int
GetAngleCount
()
const
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{
return
1;}
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public
:
virtual
void
SetAnchor
(
int
_index,
const
math::Vector3
&_anchor);
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public
:
virtual
math::Vector3
GetAnchor
(
int
_index)
const
;
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protected
:
math::Vector3
fakeAnchor
;
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};
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template
<
class
T>
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void
SliderJoint<T>::SetAnchor
(
int
/*_index*/
,
const
math::Vector3
&_anchor)
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{this->fakeAnchor = _anchor;}
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template
<
class
T>
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math::Vector3
SliderJoint<T>::GetAnchor
(
int
/*_index*/
)
const
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{
return
this->fakeAnchor;}
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}
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}
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#endif