BallJoint.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: A ball joint
18 * Author: Nate Koenig, Andrew Howard
19 * Date: 21 May 2003
20 */
21
22#ifndef _BALLJOINT_HH_
23#define _BALLJOINT_HH_
24
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 namespace physics
31 {
34
39 template< class T>
40 class GZ_PHYSICS_VISIBLE BallJoint : public T
41 {
44 public: explicit BallJoint(BasePtr _parent) : T(_parent)
45 {
46 this->AddType(Base::BALL_JOINT);
47 }
48
50 public: virtual ~BallJoint()
51 {
52 }
53
55 public: virtual unsigned int DOF() const
56 {
57 return 0;
58 }
59
62 public: void Load(sdf::ElementPtr _sdf)
63 {
64 T::Load(_sdf);
65 }
66
67
69 protected: virtual void Init()
70 {
71 T::Init();
72 }
73 };
75 }
76}
77#endif
Base class for a ball joint.
Definition BallJoint.hh:41
BallJoint(BasePtr _parent)
Constructor.
Definition BallJoint.hh:44
virtual void Init()
Initialize joint.
Definition BallJoint.hh:69
virtual ~BallJoint()
Destructor.
Definition BallJoint.hh:50
void Load(sdf::ElementPtr _sdf)
Template to Load the BallJoint.
Definition BallJoint.hh:62
virtual unsigned int DOF() const
Definition BallJoint.hh:55
@ BALL_JOINT
BallJoint type.
Definition Base.hh:94
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27