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HingeJoint.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 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 "math/Angle.hh"
26 #include "math/Vector3.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  template<class T>
37  class HingeJoint : public T
38  {
40  public: HingeJoint(BasePtr _parent) : T(_parent)
41  { this->AddType(Base::HINGE_JOINT); }
43  public: virtual ~HingeJoint()
44  { }
46  protected: virtual void Load(sdf::ElementPtr _sdf)
47  {
48  T::Load(_sdf);
49  }
50 
51  protected: virtual void Init()
52  {
53  T::Init();
54  }
55  };
57  }
58 }
59 #endif
60