FixedJoint.hh
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1/*
2 * Copyright (C) 2015 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
18#ifndef _GAZEBO_FIXEDJOINT_HH_
19#define _GAZEBO_FIXEDJOINT_HH_
20
21#include "gazebo/util/system.hh"
22
23namespace gazebo
24{
25 namespace physics
26 {
29
32 template<class T>
33 class GZ_PHYSICS_VISIBLE FixedJoint : public T
34 {
37 public: explicit FixedJoint(BasePtr _parent) : T(_parent)
38 { this->AddType(Base::FIXED_JOINT); }
40 public: virtual ~FixedJoint()
41 { }
42
43 // Documentation inherited.
44 public: virtual unsigned int DOF() const
45 {return 0;}
46
49 public: virtual void Load(sdf::ElementPtr _sdf)
50 {
51 T::Load(_sdf);
52 }
53
55 protected: virtual void Init()
56 {
57 T::Init();
58 }
59 };
61 }
62}
63#endif
64
@ FIXED_JOINT
FixedJoint type.
Definition Base.hh:108
A fixed joint rigidly connecting two bodies.
Definition FixedJoint.hh:34
virtual void Init()
Initialize joint.
Definition FixedJoint.hh:55
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
Definition FixedJoint.hh:49
virtual ~FixedJoint()
Destructor.
Definition FixedJoint.hh:40
FixedJoint(BasePtr _parent)
Constructor.
Definition FixedJoint.hh:37
virtual unsigned int DOF() const
Definition FixedJoint.hh:44
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27