ODE_Link.h
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 
10 #ifndef ODE_LINK_H_INCLUDED
11 #define ODE_LINK_H_INCLUDED
12 
13 #include <ode/ode.h>
14 #include <hrpModel/Link.h>
15 #include <hrpModel/Sensor.h>
16 #include <hrpUtil/Eigen4d.h>
17 #include <vector>
18 
19 class ODE_Link : public hrp::Link{
20  public :
21 
22  void destroy();
23 
25  void setTransform(const hrp::Vector3& pos, const hrp::Matrix33& R);
26 
27  dReal getAngle();
29 
30  const dReal* getAngularVel();
33  const dReal* getForce();
34  const dReal* getTorque();
35  void setForce(double fx, double fy, double fz);
36  void setTorque(double fx, double fy, double fz);
37  void setTorque(dReal data);
38 
39  dBodyID bodyId;
40  dJointID odeJointId;
41 
42  std::vector<dGeomID> geomIds;
43  dTriMeshDataID triMeshDataId;
44  std::vector<dReal> vertices;
45  std::vector<int> indices;
46 
48 };
49 
51 {
52  public:
53  dJointFeedback feedback;
54 };
55 
56 #endif
dJointFeedback feedback
Definition: ODE_Link.h:53
Eigen::Vector3d Vector3
Definition: EigenTypes.h:11
Eigen::Matrix3d Matrix33
Definition: EigenTypes.h:12
double dReal
Definition: ColladaUtil.h:78
JSAMPIMAGE data
Definition: jpeglib.h:945


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat May 8 2021 02:42:39