DARTFixedJoint.hh
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1 /*
2  * Copyright (C) 2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTFIXEDJOINT_HH_
19 #define _GAZEBO_DARTFIXEDJOINT_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
31 
33  class GZ_PHYSICS_VISIBLE DARTFixedJoint : public FixedJoint<DARTJoint>
34  {
37  public: explicit DARTFixedJoint(BasePtr _parent);
38 
40  public: virtual ~DARTFixedJoint();
41 
42  // Documentation inherited.
43  public: virtual void Load(sdf::ElementPtr _sdf);
44 
45  // Documentation inherited.
46  public: virtual void Init();
47 
48  // Documentation inherited
49  public: virtual ignition::math::Vector3d GlobalAxis(
50  const unsigned int _index) const;
51 
52  // Documentation inherited
53  public: virtual void SetAxis(const unsigned int _index,
54  const ignition::math::Vector3d &_axis);
55  };
57  }
58 }
59 #endif
A single axis hinge joint.
Definition: DARTFixedJoint.hh:33
A fixed joint rigidly connecting two bodies.
Definition: FixedJoint.hh:33
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77