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BallJoint.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 ball joint
* Author: Nate Koenig, Andrew Howard
* Date: 21 May 2003
*/
#ifndef _BALLJOINT_HH_
#define _BALLJOINT_HH_
#include "gazebo/physics/Joint.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
template< class T>
class GZ_PHYSICS_VISIBLE BallJoint : public T
{
public: explicit BallJoint(BasePtr _parent) : T(_parent)
{
this->AddType(Base::BALL_JOINT);
}
public: virtual ~BallJoint()
{
}
public: virtual unsigned int DOF() const
{
return 0;
}
public: void Load(sdf::ElementPtr _sdf)
{
T::Load(_sdf);
}
protected: virtual void Init()
{
T::Init();
}
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::BallJoint::~BallJoint
virtual ~BallJoint()
Destructor.
Definition: BallJoint.hh:50
gazebo::physics::Base::BALL_JOINT
BallJoint type.
Definition: Base.hh:94
system.hh
gazebo::physics::BallJoint::Load
void Load(sdf::ElementPtr _sdf)
Template to ::Load the BallJoint.
Definition: BallJoint.hh:62
gazebo::physics::BallJoint
Base class for a ball joint.
Definition: BallJoint.hh:40
Joint.hh
gazebo::physics::BallJoint::DOF
virtual unsigned int DOF() const
Definition: BallJoint.hh:55
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::BallJoint::BallJoint
BallJoint(BasePtr _parent)
Constructor.
Definition: BallJoint.hh:44
gazebo::physics::BallJoint::Init
virtual void Init()
Initialize joint.
Definition: BallJoint.hh:69