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SIG_DynaJoint.h

00001 #ifndef SIGEL_SIMULATION_SIG_DYNAJOINT_H
00002 #define SIGEL_SIMULATION_SIG_DYNAJOINT_H
00003 
00004 #include "constraint.h"
00005 #include "controller.h"
00006 #include "SIGEL_Robot/SIG_Joint.h"
00007 #include "SIGEL_Simulation/SIG_DynaLink.h"
00008 
00009 namespace SIGEL_Simulation
00010 {
00015 class SIG_DynaJoint {
00016  public:
00018   ~SIG_DynaJoint();
00020   SIGEL_Robot::SIG_Joint const * joint;
00022   int number;
00024   DL_constraint* constraint;
00026   DL_constraint* deflection;
00028   DL_vector leftDir,rightDir,leftUp,rightUp;
00030   DL_point leftFix,rightFix,leftFixB,rightFixB,leftFixC,rightFixC;
00032   SIG_DynaLink const * leftDyna;
00033   SIG_DynaLink const * rightDyna;
00035   DL_controller * controller;
00037   DL_controller * controller2;
00039   bool holdDeflection;
00041   DL_Scalar momentaryDeflection;
00042 };
00043 
00044 };
00045 
00046 #endif // SIGEL_SIMULATION_SIG_DYNAJOINT_H

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