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BallJoint.hh
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1 /*
2  * Copyright (C) 2012-2014 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 ball joint
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _BALLJOINT_HH_
23 #define _BALLJOINT_HH_
24 
25 #include "gazebo/physics/Joint.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
38  template< class T>
39  class BallJoint : public T
40  {
43  public: explicit BallJoint(BasePtr _parent) : T(_parent)
44  {
45  this->AddType(Base::BALL_JOINT);
46  }
47 
49  public: virtual ~BallJoint()
50  {
51  }
52 
55  public: void Load(sdf::ElementPtr _sdf)
56  {T::Load(_sdf);}
57 
60  public: virtual void SetAxis(int /*_index*/,
61  const math::Vector3 &/*_axis*/) {}
62 
65  public: virtual void SetHighStop(int /*_index*/,
66  math::Angle /*_angle*/) {}
67 
70  public: virtual void SetLowStop(int /*_index*/, math::Angle /*_angle*/) {}
71 
74  public: virtual math::Angle GetHighStop(int /*_index*/)
75  {return math::Angle();}
76 
79  public: virtual math::Angle GetLowStop(int /*_index*/)
80  {return math::Angle();}
81 
83  public: virtual unsigned int GetAngleCount() const
84  {return 0;}
85  };
87  }
88 }
89 #endif