74 lines
2.0 KiB
C++
74 lines
2.0 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A hinge joint with 2 degrees of freedom
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* Author: Nate Koenig, Andrew Howard
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* Date: 21 May 2003
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*/
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#ifndef _HINGE2JOINT_HH_
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#define _HINGE2JOINT_HH_
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#include <sdf/sdf.hh>
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#include "gazebo/math/Angle.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/physics/Joint.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class Hinge2Joint Hinge2Joint.hh physics/physics.hh
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/// \brief A two axis hinge joint
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template< class T>
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class GZ_PHYSICS_VISIBLE Hinge2Joint : public T
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent link.
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public: explicit Hinge2Joint(BasePtr _parent) : T(_parent)
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{this->AddType(Base::HINGE2_JOINT);}
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/// \brief Destructor.
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public: virtual ~Hinge2Joint()
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{ }
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// Documentation inherited.
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public: virtual unsigned int GetAngleCount() const
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{return 2;}
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/// \brief Load the joint.
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/// \param[in] _sdf SDF values to load from.
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public: virtual void Load(sdf::ElementPtr _sdf)
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{
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T::Load(_sdf);
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this->SetAxis(0,
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_sdf->GetElement("axis")->Get<math::Vector3>("xyz"));
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this->SetAxis(1,
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_sdf->GetElement("axis2")->Get<math::Vector3>("xyz"));
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}
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};
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/// \}
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}
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}
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#endif
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