71 lines
1.8 KiB
C++
71 lines
1.8 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 body that has a box shape
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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 _HINGEJOINT_HH_
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#define _HINGEJOINT_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/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 HingeJoint HingeJoint.hh physics/physics.hh
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/// \brief A single axis hinge joint
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template<class T>
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class GZ_PHYSICS_VISIBLE HingeJoint : 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: HingeJoint(BasePtr _parent) : T(_parent)
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{ this->AddType(Base::HINGE_JOINT); }
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/// \brief Destructor
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public: virtual ~HingeJoint()
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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 1;}
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/// \brief Load joint
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/// \param[in] _sdf Pointer to SDF element
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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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}
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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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