Hinge2Joint.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 hinge joint with 2 degrees of freedom
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef GAZEBO_PHYSICS_HINGE2JOINT_HH_
23 #define GAZEBO_PHYSICS_HINGE2JOINT_HH_
24 
25 #include <sdf/sdf.hh>
26 #include <ignition/math/Pose3.hh>
27 
28 #include "gazebo/physics/Joint.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
37 
40  template< class T>
41  class GZ_PHYSICS_VISIBLE Hinge2Joint : public T
42  {
45  public: explicit Hinge2Joint(BasePtr _parent) : T(_parent)
46  {this->AddType(Base::HINGE2_JOINT);}
47 
49  public: virtual ~Hinge2Joint()
50  { }
51 
52  // Documentation inherited.
53  public: virtual unsigned int DOF() const
54  {return 2;}
55 
58  public: virtual void Load(sdf::ElementPtr _sdf)
59  {
60  T::Load(_sdf);
61 
62  this->SetAxis(0,
63  _sdf->GetElement("axis")->Get<ignition::math::Vector3d>("xyz"));
64 
65  this->SetAxis(1,
66  _sdf->GetElement("axis2")->Get<ignition::math::Vector3d>("xyz"));
67  }
68  };
70  }
71 }
72 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A two axis hinge joint.
Definition: Hinge2Joint.hh:41
virtual ~Hinge2Joint()
Destructor.
Definition: Hinge2Joint.hh:49
virtual unsigned int DOF() const
Definition: Hinge2Joint.hh:53
Hing2Joint type.
Definition: Base.hh:102
virtual void Load(sdf::ElementPtr _sdf)
Load the joint.
Definition: Hinge2Joint.hh:58
Hinge2Joint(BasePtr _parent)
Constructor.
Definition: Hinge2Joint.hh:45
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77