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Hinge2Joint.hh
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1 /*
2  * Copyright 2011 Nate Koenig
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 "math/Angle.hh"
26 #include "math/Vector3.hh"
27 #include "physics/Joint.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
37  template< class T>
38  class Hinge2Joint : public T
39  {
41  public: Hinge2Joint(BasePtr _parent) : T(_parent)
42  { this->AddType(Base::HINGE2_JOINT); }
44  public: virtual ~Hinge2Joint()
45  { }
47  protected: virtual void Load(sdf::ElementPtr _sdf)
48  {
49  T::Load(_sdf);
50 
51  this->SetAxis(0,
52  _sdf->GetElement("axis")->GetValueVector3("xyz"));
53 
54  this->SetAxis(1,
55  _sdf->GetElement("axis2")->GetValueVector3("xyz"));
56  }
57  };
59  }
60 }
61 #endif
62