WorldSim - 0.6.0

Utilities Configuration GA
NNFW WorldSim Total 99% Experiments

worldsim/include/phyuniversal.h

00001 /********************************************************************************
00002  *  WorldSim -- library for robot simulations                                   *
00003  *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
00004  *                                                                              *
00005  *  This program is free software; you can redistribute it and/or modify        *
00006  *  it under the terms of the GNU General Public License as published by        *
00007  *  the Free Software Foundation; either version 2 of the License, or           *
00008  *  (at your option) any later version.                                         *
00009  *                                                                              *
00010  *  This program is distributed in the hope that it will be useful,             *
00011  *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
00012  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
00013  *  GNU General Public License for more details.                                *
00014  *                                                                              *
00015  *  You should have received a copy of the GNU General Public License           *
00016  *  along with this program; if not, write to the Free Software                 *
00017  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
00018  ********************************************************************************/
00019 
00020 #ifndef PHYUNIVERSAL_H
00021 #define PHYUNIVERSAL_H
00022 
00023 #include "worldsimconfig.h"
00024 #include "world.h"
00025 #include "phyobject.h"
00026 #include "wvector.h"
00027 #include "wmatrix.h"
00028 #include "wquaternion.h"
00029 #include "phyjoint.h"
00030 
00031 namespace farsa {
00032 
00043 class FARSA_WSIM_API PhyUniversal : public PhyJoint {
00044 public:
00055     PhyUniversal( const wVector& firstAxis, const wVector& secondAxis, const wVector& centre, PhyObject* parent, PhyObject* child, bool cp=true );
00056 
00058     virtual void updateJointInfo();
00059 
00061     virtual wVector centre();
00062 
00063 protected:
00069     wMatrix localMatrixParent;
00071     wMatrix localMatrixChild;
00072 
00081     wMatrix globalMatrixParent;
00087     wMatrix globalMatrixChild;
00088 
00090     void createPrivateJoint();
00091     virtual void updateJoint( real timestep );
00092 
00093 private:
00094     PhyDOF* firstDof;
00095     PhyDOF* secondDof;
00096 
00097 };
00098 
00099 } // end namespace farsa
00100 
00101 #endif