HingeJoint.hh
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1 /*
2  * Copyright (C) 2012-2015 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 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
38  template<class T>
39  class GZ_PHYSICS_VISIBLE HingeJoint : public T
40  {
43  public: HingeJoint(BasePtr _parent) : T(_parent)
44  { this->AddType(Base::HINGE_JOINT); }
46  public: virtual ~HingeJoint()
47  { }
48 
49  // Documentation inherited.
50  public: virtual unsigned int GetAngleCount() const
51  {return 1;}
52 
55  public: virtual void Load(sdf::ElementPtr _sdf)
56  {
57  T::Load(_sdf);
58  }
59 
61  protected: virtual void Init()
62  {
63  T::Init();
64  }
65  };
67  }
68 }
69 #endif
70 
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:68
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:318
virtual void Init()
Initialize joint.
Definition: HingeJoint.hh:61
HingeJoint type.
Definition: Base.hh:109
A single axis hinge joint.
Definition: HingeJoint.hh:39
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
Definition: HingeJoint.hh:55
virtual unsigned int GetAngleCount() const
Definition: HingeJoint.hh:50
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
HingeJoint(BasePtr _parent)
Constructor.
Definition: HingeJoint.hh:43
virtual ~HingeJoint()
Destructor.
Definition: HingeJoint.hh:46