ODE_Link.h
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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00009 
00010 #ifndef ODE_LINK_H_INCLUDED
00011 #define ODE_LINK_H_INCLUDED
00012 
00013 #include <ode/ode.h>
00014 #include <hrpModel/Link.h>
00015 #include <hrpModel/Sensor.h>
00016 #include <hrpUtil/Eigen4d.h>
00017 #include <vector>
00018 
00019 class ODE_Link : public hrp::Link{
00020     public :
00021 
00022         void destroy();
00023 
00024         void getTransform(hrp::Vector3& pos, hrp::Matrix33& R);
00025         void setTransform(const hrp::Vector3& pos, const hrp::Matrix33& R);
00026 
00027         dReal getAngle();
00028         dReal getVelocity();
00029 
00030         const dReal* getAngularVel();
00031         void getLinearVel(hrp::Vector3& v);
00032         void setAbsVelocity(hrp::Vector3& v, hrp::Vector3& w);
00033         const dReal* getForce();
00034         const dReal* getTorque();
00035         void setForce(double fx, double fy, double fz);
00036         void setTorque(double fx, double fy, double fz);
00037         void setTorque(dReal data);
00038 
00039         dBodyID bodyId;
00040         dJointID odeJointId;
00041         
00042         std::vector<dGeomID> geomIds;
00043         dTriMeshDataID triMeshDataId;
00044         std::vector<dReal> vertices;
00045         std::vector<int> indices;
00046 
00047         hrp::Vector3 C;
00048 };
00049 
00050 class  ODE_ForceSensor : public hrp::ForceSensor
00051 {
00052     public:
00053         dJointFeedback feedback;
00054 };
00055 
00056 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:55