BallJoint.hh

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A ball joint
 * Author: Nate Koenig, Andrew Howard
 * Date: 21 May 2003
 */

#ifndef _BALLJOINT_HH_
#define _BALLJOINT_HH_

#include "gazebo/physics/Joint.hh"

namespace gazebo
{
  namespace physics
  {

    template< class T>
    class BallJoint : public T
    {
      public: explicit BallJoint(BasePtr _parent) : T(_parent)
              {
                this->AddType(Base::BALL_JOINT);
              }

      public: virtual ~BallJoint()
              {
              }

      public: void Load(sdf::ElementPtr _sdf)
              {T::Load(_sdf);}

      public: virtual void SetAxis(int /*_index*/,
                                   const math::Vector3 &/*_axis*/) {}

      public: virtual void SetHighStop(int /*_index*/,
                                       math::Angle /*_angle*/) {}

      public: virtual void SetLowStop(int /*_index*/, math::Angle /*_angle*/) {}

      public: virtual math::Angle GetHighStop(int /*_index*/)
              {return math::Angle();}

      public: virtual math::Angle GetLowStop(int /*_index*/)
              {return math::Angle();}

      public: virtual unsigned int GetAngleCount() const
              {return 0;}
    };
  }
}
#endif