URDFRobot.h
Go to the documentation of this file.
00001 /* 
00002  * Copyright (c) 2013 University of Jaume-I.
00003  * All rights reserved. This program and the accompanying materials
00004  * are made available under the terms of the GNU Public License v3.0
00005  * which accompanies this distribution, and is available at
00006  * http://www.gnu.org/licenses/gpl.html
00007  * 
00008  * Contributors:
00009  *     Mario Prats
00010  *     Javier Perez
00011  */
00012 
00013 #ifndef URDFROBOT_H_
00014 #define URDFROBOT_H_
00015 
00016 #include "SimulatorConfig.h"
00017 #include "KinematicChain.h"
00018 #include "ConfigXMLParser.h"
00019 
00020 #include <osgOcean/OceanScene>
00021 #include <osg/Switch>
00022 
00023 #include <iostream>
00024 #include <string.h>
00025 
00026 class URDFRobot : public KinematicChain
00027 {
00028 
00029 public:
00030 
00031   std::vector<osg::Vec3d> joint_axis;
00032   std::string URDFFile;
00033 
00034   URDFRobot(osgOcean::OceanScene *oscene, Vehicle vehicle);
00035   void addToKinematicChain(osg::Node * link, btRigidBody* body);
00036 
00037   ~URDFRobot();
00038 
00039 protected:
00040 
00041   void updateJoints(std::vector<double> &q);
00042   void updateJoints(std::vector<double> &q, int startJoint, int numJoints);
00043 
00044 private:
00045   void moveJoints(std::vector<double> &q);
00046 
00047 };
00048 
00049 #endif /* URDFROBOT_H_ */


uwsim
Author(s): Mario Prats , Javier Perez
autogenerated on Fri Aug 28 2015 13:28:58