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JointGroup.hh

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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: A collection of joints
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 21 May 2003
00024  * CVS: $Id: JointGroup.hh,v 1.4 2003/07/30 17:55:34 natepak Exp $
00025  */
00026 
00027 #ifndef JOINTGROUP_HH
00028 #define JOINTGROUP_HH
00029 
00030 #include "Joint.hh"
00031 
00032 class JointGroup 
00033 {
00034   // Constructor
00035   public: JointGroup();
00036 
00037   // Destructor
00038   public: virtual ~JointGroup();
00039 
00040   // Get the id of this group
00041   public: const dJointGroupID GetGroupId() const;
00042 
00043   // Remove all joints from this group
00044   public: void Empty();
00045 
00046   // The id of this joing group
00047   protected: dJointGroupID groupId;
00048 
00049 };
00050 
00051 #endif
00052 

Last updated 12 September 2005 21:38:45