SliderJoint.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A slider or primastic joint
 * Author: Nate Keonig, Andrew Howard
 * Date: 21 May 2003
 */

#ifndef SLIDERJOINT_HH
#define SLIDERJOINT_HH

#include <float.h>
#include "physics/Joint.hh"

namespace gazebo
{
    namespace physics
  {

    template<class T>
    class SliderJoint : public T
    {
      public: SliderJoint( ) : T()
              { this->AddType(Base::SLIDER_JOINT); } 
  
      public: virtual ~SliderJoint()
              { }
  
      protected: virtual void Load( sdf::ElementPtr &_sdf )
                 {
                   T::Load(_sdf);
  
                   if (_sdf->HasElement("axis"))
                   {
                     sdf::ElementPtr axisElem = _sdf->GetElement("axis");
                     this->SetAxis(0, axisElem->GetValueVector3("xyz"));
                     if (axisElem->HasElement("limit"))
                     {
                       sdf::ElementPtr limitElem = _sdf->GetElement("axis")->GetElement("limit");
                       // Perform this three step ordering to ensure the parameters 
                       // are set properly. This is taken from the ODE wiki.
                       this->SetHighStop(0,limitElem->GetValueDouble("upper"));
                       this->SetLowStop( 0,limitElem->GetValueDouble("lower"));
                       this->SetHighStop(0,limitElem->GetValueDouble("upper"));
                     }
                   }
                 }
    
      public: virtual void SetAnchor( int /*_index*/, 
                                      const math::Vector3 &_anchor) 
              {this->fakeAnchor = _anchor;}
  
      public: virtual math::Vector3 GetAnchor(int /*_index*/) const 
              {return this->fakeAnchor;}
   
      protected: math::Vector3 fakeAnchor;
    };
    
  }
}
#endif