78 lines
2.0 KiB
C++
78 lines
2.0 KiB
C++
/*
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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 ball joint
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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 _BALLJOINT_HH_
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#define _BALLJOINT_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 BallJoint BallJoint.hh physics/physics.hh
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/// \brief Base class for a ball joint
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///
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/// Each physics engine should implement this class.
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template< class T>
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class GZ_PHYSICS_VISIBLE BallJoint : public T
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{
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/// \brief Constructor
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/// \param[in] _parent Pointer to the parent link.
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public: explicit BallJoint(BasePtr _parent) : T(_parent)
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{
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this->AddType(Base::BALL_JOINT);
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}
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/// \brief Destructor
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public: virtual ~BallJoint()
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{
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}
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/// \internal
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public: virtual unsigned int GetAngleCount() const
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{
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return 0;
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}
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/// \brief Template to ::Load the BallJoint.
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/// \param[in] _sdf SDF to load the joint from.
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public: void Load(sdf::ElementPtr _sdf)
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{
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T::Load(_sdf);
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}
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/// \brief Initialize joint
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protected: virtual void Init()
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{
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T::Init();
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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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