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HingeJoint.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
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 body that has a box shape
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _HINGEJOINT_HH_
23 #define _HINGEJOINT_HH_
24 
25 #include "gazebo/math/Angle.hh"
26 #include "gazebo/math/Vector3.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
37  template<class T>
38  class HingeJoint : public T
39  {
42  public: HingeJoint(BasePtr _parent) : T(_parent)
43  { this->AddType(Base::HINGE_JOINT); }
45  public: virtual ~HingeJoint()
46  { }
47 
49  public: virtual unsigned int GetAngleCount() const
50  {return 1;}
51 
54  public: virtual void Load(sdf::ElementPtr _sdf)
55  {
56  T::Load(_sdf);
57  }
58 
60  protected: virtual void Init()
61  {
62  T::Init();
63  }
64  };
66  }
67 }
68 #endif
69