KinematicLink.hh

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/*
 * Copyright (C) 2024 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 GZ_PHYSICS_KINEMATICLINK_HH_
#define GZ_PHYSICS_KINEMATICLINK_HH_
 
#include <gz/physics/FeatureList.hh>
 
namespace gz
{
  namespace physics
  {
    class GZ_PHYSICS_VISIBLE KinematicLink
      : public virtual Feature
    {
      public: template <typename PolicyT, typename FeaturesT>
      class Link : public virtual Feature::Link<PolicyT, FeaturesT>
      {
        public: void SetKinematic(bool _kinematic);
 
        public: bool GetKinematic() const;
      };
 
      public: template <typename PolicyT>
      class Implementation : public virtual Feature::Implementation<PolicyT>
      {
        public: virtual void SetLinkKinematic(
            const Identity &_shapeID, bool _kinematic) = 0;
 
        public: virtual bool GetLinkKinematic(
            const Identity &_shapeID) const = 0;
      };
    };
  }
}
 
#include <gz/physics/detail/KinematicLink.hh>
 
#endif