include/gz/sim/components/JointType.hh

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/*
 * Copyright (C) 2018 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_SIM_COMPONENTS_JOINTTYPE_HH_
#define GZ_SIM_COMPONENTS_JOINTTYPE_HH_
 
#include <memory>
#include <sdf/Joint.hh>
#include <gz/sim/components/Factory.hh>
#include <gz/sim/components/Component.hh>
#include <gz/sim/config.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace serializers
{
  class JointTypeSerializer
  {
    public: static std::ostream &Serialize(std::ostream &_out,
                                           const sdf::JointType &_type)
    {
      _out << static_cast<int>(_type);
      return _out;
    }
 
    public: static std::istream &Deserialize(std::istream &_in,
                                             sdf::JointType &_type)
    {
      int type;
      _in >> type;
      _type = sdf::JointType(type);
      return _in;
    }
  };
}
namespace components
{
  using JointType = Component<sdf::JointType, class JointTypeTag,
                              serializers::JointTypeSerializer>;
  GZ_SIM_REGISTER_COMPONENT(
      "gz_sim_components.JointType", JointType)
}
}
}
}
 
#endif