text: /*
   * Copyright (C) 2014 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.
   *
  */
  
  #ifndef _GAZEBO_DARTHINGE2JOINT_HH_
  #define _GAZEBO_DARTHINGE2JOINT_HH_
  
  #include "gazebo/physics/Hinge2Joint.hh"
  #include "gazebo/physics/dart/DARTJoint.hh"
  #include "gazebo/util/system.hh"
  
  namespace gazebo
  {
    namespace physics
    {
      /// \addtogroup gazebo_physics_dart
      /// \{
  
      /// \brief A two axis hinge joint
      class GZ_PHYSICS_VISIBLE DARTHinge2Joint : public Hinge2Joint<DARTJoint>
      {
        /// \brief Constructor
        /// \param[in] _parent Parent of the Joint
        public: DARTHinge2Joint(BasePtr _parent);
  
        /// \brief Destructor.
        public: virtual ~DARTHinge2Joint();
  
        // Documentation inherited
        public: virtual void Load(sdf::ElementPtr _sdf);
  
        // Documentation inherited.
        public: virtual void Init();
  
        // Documentation inherited
        public: virtual ignition::math::Vector3d Anchor(
            const unsigned int _index) const;
  
        // Documentation inherited
        public: virtual ignition::math::Vector3d GlobalAxis(
            const unsigned int _index) const;
  
        // Documentation inherited
        public: virtual void SetAxis(const unsigned int _index,
                    const ignition::math::Vector3d &_axis);
  
        // Documentation inherited
        public: virtual double PositionImpl(const unsigned int _index) const;
  
        // Documentation inherited
        public: virtual double GetVelocity(unsigned int _index) const;
  
        // Documentation inherited
        public: virtual void SetVelocity(unsigned int _index, double _vel);
  
        // Documentation inherited
        protected: virtual void SetForceImpl(unsigned int _index, double _effort);
      };
      /// \}
    }
  }
  #endif
  