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UniversalJoint.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 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/math/Vector3.hh"
26 #include "gazebo/physics/Joint.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
37  template<class T>
38  class UniversalJoint : public T
39  {
42  public: explicit UniversalJoint(BasePtr _parent) : T(_parent)
43  {this->AddType(Base::UNIVERSAL_JOINT);}
44 
46  public: virtual ~UniversalJoint()
47  { }
48 
50  public: virtual unsigned int GetAngleCount() const
51  {return 2;}
52 
55  public: virtual void Load(sdf::ElementPtr _sdf)
56  {
57  T::Load(_sdf);
58 
59  /*
60  this->SetAxis(0,
61  this->sdf->GetElement("axis")->Get<math::Vector3("xyz"));
62  this->SetAxis(1,
63  this->sdf->GetElement("axis2")->Get<math::Vector3>("xyz"));
64  */
65  }
66  };
68  }
69 }
70 #endif