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Hinge2Joint.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.
*
*/
/* Desc: A hinge joint with 2 degrees of freedom
* Author: Nate Koenig, Andrew Howard
* Date: 21 May 2003
*/
#ifndef GAZEBO_PHYSICS_HINGE2JOINT_HH_
#define GAZEBO_PHYSICS_HINGE2JOINT_HH_
#include <sdf/sdf.hh>
#include <ignition/math/Pose3.hh>
#include "gazebo/physics/Joint.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
template< class T>
class GZ_PHYSICS_VISIBLE Hinge2Joint : public T
{
public: explicit Hinge2Joint(BasePtr _parent) : T(_parent)
{this->AddType(Base::HINGE2_JOINT);}
public: virtual ~Hinge2Joint()
{ }
// Documentation inherited.
public: virtual unsigned int DOF() const
{return 2;}
public: virtual void Load(sdf::ElementPtr _sdf)
{
T::Load(_sdf);
this->SetAxis(0,
_sdf->GetElement("axis")->Get<ignition::math::Vector3d>("xyz"));
this->SetAxis(1,
_sdf->GetElement("axis2")->Get<ignition::math::Vector3d>("xyz"));
}
};
}
}
#endif
gazebo::physics::Hinge2Joint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
Definition: Hinge2Joint.hh:58
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
system.hh
gazebo::physics::Hinge2Joint::DOF
virtual unsigned int DOF() const
Definition: Hinge2Joint.hh:53
Joint.hh
gazebo::physics::Hinge2Joint
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
gazebo::physics::Base::HINGE2_JOINT
Hing2Joint type.
Definition: Base.hh:96
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::physics::Hinge2Joint::~Hinge2Joint
virtual ~Hinge2Joint()
Destructor.
Definition: Hinge2Joint.hh:49
gazebo::physics::Hinge2Joint::Hinge2Joint
Hinge2Joint(BasePtr _parent)
Constructor.
Definition: Hinge2Joint.hh:45