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DARTBallJoint.hh
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/*
* Copyright (C) 2014 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.
*
*/
#ifndef _GAZEBO_DARTBALLJOINT_HH_
#define _GAZEBO_DARTBALLJOINT_HH_
#include "gazebo/physics/BallJoint.hh"
#include "gazebo/physics/dart/DARTJoint.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE DARTBallJoint : public BallJoint<DARTJoint>
{
public: explicit DARTBallJoint(BasePtr _parent);
public: virtual ~DARTBallJoint();
// Documentation inherited.
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void Init();
// Documentation inherited
public: virtual ignition::math::Vector3d GlobalAxis(
const unsigned int _index) const;
// Documentation inherited.
public: virtual void SetAxis(const unsigned int _index,
const ignition::math::Vector3d &_axis);
};
}
}
#endif
gazebo::physics::DARTBallJoint::Init
virtual void Init()
Initialize joint.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
system.hh
gazebo::physics::DARTBallJoint::GlobalAxis
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
gazebo::physics::BallJoint
Base class for a ball joint.
Definition: BallJoint.hh:40
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::DARTBallJoint::SetAxis
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
BallJoint.hh
DARTJoint.hh
gazebo::physics::DARTBallJoint::DARTBallJoint
DARTBallJoint(BasePtr _parent)
Constructor.
gazebo::physics::DARTBallJoint::Load
virtual void Load(sdf::ElementPtr _sdf)
Load physics::Joint from a SDF sdf::Element.
gazebo::physics::DARTBallJoint::~DARTBallJoint
virtual ~DARTBallJoint()
Destructor.
gazebo::physics::DARTBallJoint
An DARTBallJoint.
Definition: DARTBallJoint.hh:33