text: /*
   * Copyright (C) 2017 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 IGNITION_PHYSICS_DETAIL_FRAMEDATA_HH_
  #define IGNITION_PHYSICS_DETAIL_FRAMEDATA_HH_
  
  #include <ignition/physics/FrameData.hh>
  
  namespace ignition
  {
    namespace physics
    {
      /////////////////////////////////////////////////
      template <typename Scalar, std::size_t Dim>
      FrameData<Scalar, Dim>::FrameData()
      {
        /// Technically we do not need to call this function in the constructor
        /// since the ignition::math types initialize their values to zero (or
        /// identity for Pose3) automatically, but I am putting this here for
        /// safety, just in case that behavior ever changes.
        this->SetToZero();
      }
  
      /////////////////////////////////////////////////
      template <typename Scalar, std::size_t Dim>
      void FrameData<Scalar, Dim>::SetToZero()
      {
        this->pose = Pose::Identity();
        this->linearVelocity = LinearVector::Zero();
        this->angularVelocity = AngularVector::Zero();
        this->linearAcceleration = LinearVector::Zero();
        this->angularAcceleration = AngularVector::Zero();
      }
    }
  }
  
  #endif
  