UniversalJoint.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_UNIVERSALJOINT_HH_
#define _GAZEBO_UNIVERSALJOINT_HH_

#include "gazebo/math/Vector3.hh"
#include "gazebo/physics/Joint.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    template<class T>
    class GZ_PHYSICS_VISIBLE UniversalJoint : public T
    {
      public: enum AxisIndex
      {
        AXIS_PARENT = 0,
        AXIS_CHILD  = 1
      };

      public: explicit UniversalJoint(BasePtr _parent) : T(_parent)
              {this->AddType(Base::UNIVERSAL_JOINT);}

      public: virtual ~UniversalJoint()
              { }

      // Documentation inherited.
      public: virtual unsigned int DOF() const
              {return 2;}

      public: virtual void Load(sdf::ElementPtr _sdf)
              {
                T::Load(_sdf);

                /*
                this->SetAxis(0,
                    this->sdf->GetElement("axis")->Get<ignition::math::Vector3d("xyz"));
                this->SetAxis(1,
                    this->sdf->GetElement("axis2")->Get<ignition::math::Vector3d>("xyz"));
                    */
              }

      protected: virtual void Init()
                 {
                   T::Init();
                 }
    };
  }
}
#endif