BallJoint.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
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 ball joint
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _BALLJOINT_HH_
23 #define _BALLJOINT_HH_
24 
25 #include "gazebo/physics/Joint.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
39  template< class T>
40  class GZ_PHYSICS_VISIBLE BallJoint : public T
41  {
44  public: explicit BallJoint(BasePtr _parent) : T(_parent)
45  {
46  this->AddType(Base::BALL_JOINT);
47  }
48 
50  public: virtual ~BallJoint()
51  {
52  }
53 
55  public: virtual unsigned int DOF() const
56  {
57  return 0;
58  }
59 
62  public: void Load(sdf::ElementPtr _sdf)
63  {
64  T::Load(_sdf);
65  }
66 
67 
69  protected: virtual void Init()
70  {
71  T::Init();
72  }
73  };
75  }
76 }
77 #endif
virtual void Init()
Initialize joint.
Definition: BallJoint.hh:69
Forward declarations for the common classes.
Definition: Animation.hh:33
virtual unsigned int DOF() const
Definition: BallJoint.hh:55
BallJoint(BasePtr _parent)
Constructor.
Definition: BallJoint.hh:44
BallJoint type.
Definition: Base.hh:100
virtual ~BallJoint()
Destructor.
Definition: BallJoint.hh:50
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Base class for a ball joint.
Definition: BallJoint.hh:40
void Load(sdf::ElementPtr _sdf)
Template to ::Load the BallJoint.
Definition: BallJoint.hh:62