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UniversalJoint.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 universal joint
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _UNIVERSALJOINT_HH_
23 #define _UNIVERSALJOINT_HH_
24 
25 #include "gazebo/physics/Joint.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
36  template<class T>
37  class UniversalJoint : public T
38  {
41  public: explicit UniversalJoint(BasePtr _parent) : T(_parent)
42  {this->AddType(Base::UNIVERSAL_JOINT);}
43 
45  public: virtual ~UniversalJoint()
46  { }
47 
49  public: virtual unsigned int GetAngleCount() const
50  {return 2;}
51 
54  public: virtual void Load(sdf::ElementPtr _sdf)
55  {
56  T::Load(_sdf);
57 
58  this->SetAxis(0,
59  this->sdf->GetElement("axis")->GetValueVector3("xyz"));
60  this->SetAxis(1,
61  this->sdf->GetElement("axis2")->GetValueVector3("xyz"));
62  }
63  };
65  }
66 }
67 #endif