Gazebo Physics

API Reference

7.4.0
FixedJoint.hh
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1 /*
2  * Copyright (C) 2018 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 
18 #ifndef GZ_PHYSICS_FIXEDJOINT_HH_
19 #define GZ_PHYSICS_FIXEDJOINT_HH_
20 
21 #include <string>
22 
24 
25 namespace gz
26 {
27  namespace physics
28  {
30 
31  class GZ_PHYSICS_VISIBLE AttachFixedJointFeature
32  : public virtual FeatureWithRequirements<FixedJointCast>
33  {
34  public: template <typename PolicyT, typename FeaturesT>
35  class Link : public virtual Feature::Link<PolicyT, FeaturesT>
36  {
37  public: using JointPtrType = FixedJointPtr<PolicyT, FeaturesT>;
38 
50  public: JointPtrType AttachFixedJoint(
51  const BaseLinkPtr<PolicyT> &_parent,
52  const std::string &_name = "fixed");
53  };
54 
55  public: template <typename PolicyT>
56  class Implementation : public virtual Feature::Implementation<PolicyT>
57  {
58  public: virtual Identity AttachFixedJoint(
59  const Identity &_childID,
60  const BaseLinkPtr<PolicyT> &_parent,
61  const std::string &_name) = 0;
62  };
63  };
64  }
65 }
66 
67 #include <gz/physics/detail/FixedJoint.hh>
68 
69 #endif