text: /*
   * Copyright (C) 2020 Open Source Robotics Foundation
   *
   * 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.
   *
  */
  
  #include "Collision.hh"
  #include "Link.hh"
  
  using namespace ignition;
  using namespace physics;
  using namespace tpelib;
  
  //////////////////////////////////////////////////
  Link::Link() : Entity()
  {
  }
  
  //////////////////////////////////////////////////
  Link::Link(std::size_t _id) : Entity(_id)
  {
  }
  
  //////////////////////////////////////////////////
  Entity &Link::AddCollision()
  {
    std::size_t collisionId = Entity::GetNextId();
    const auto[it, success] = this->GetChildren().insert(
      {collisionId, std::make_shared<Collision>(collisionId)});
    it->second->SetParent(this);
    this->ChildrenChanged();
    return *it->second.get();
  }
  