Hinge2Joint.hh
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1 /*
2  * Copyright (C) 2012-2016 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 hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _HINGE2JOINT_HH_
23 #define _HINGE2JOINT_HH_
24 
25 #include <sdf/sdf.hh>
26 
27 #include "gazebo/math/Angle.hh"
28 #include "gazebo/math/Vector3.hh"
29 #include "gazebo/physics/Joint.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
38 
41  template< class T>
43  {
46  public: explicit Hinge2Joint(BasePtr _parent) : T(_parent)
47  {this->AddType(Base::HINGE2_JOINT);}
48 
50  public: virtual ~Hinge2Joint()
51  { }
52 
53  // Documentation inherited.
54  public: virtual unsigned int GetAngleCount() const
55  {return 2;}
56 
59  public: virtual void Load(sdf::ElementPtr _sdf)
60  {
61  T::Load(_sdf);
62 
63  this->SetAxis(0,
64  _sdf->GetElement("axis")->Get<math::Vector3>("xyz"));
65 
66  this->SetAxis(1,
67  _sdf->GetElement("axis2")->Get<math::Vector3>("xyz"));
68  }
69  };
71  }
72 }
73 #endif
Hing2Joint type.
Definition: Base.hh:107
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:72
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
A two axis hinge joint.
Definition: Hinge2Joint.hh:42
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Hinge2Joint(BasePtr _parent)
Constructor.
Definition: Hinge2Joint.hh:46
virtual ~Hinge2Joint()
Destructor.
Definition: Hinge2Joint.hh:50
virtual unsigned int GetAngleCount() const
Definition: Hinge2Joint.hh:54
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
Definition: Hinge2Joint.hh:59