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SIG_Drive.h

00001 #ifndef SIGEL_ROBOT_SIG_DRIVE_H
00002 #define SIGEL_ROBOT_SIG_DRIVE_H
00003 
00004 namespace SIGEL_Robot { class SIG_Drive; }
00005 
00006 #include <qstring.h>
00007 #include <pointvector.h>
00008 #include "SIGEL_Robot/SIG_Robot.h"
00009 #include "SIGEL_Robot/SIG_Joint.h"
00010 
00011 namespace SIGEL_Robot
00012 {
00013 
00020   class SIG_Drive {
00021   public:
00022           enum DriveMode { tForceMode, tRelativeMode, tAbsoluteMode };
00023   private:
00024     SIG_Robot *parent;
00025     QString name;
00026     int number;
00027     SIG_Joint *theJoint;
00028     DriveMode mode;
00029     DL_Scalar minforce, maxforce ;
00030   public:
00031     SIG_Drive (SIG_Robot *par, QString n, int nr = -1);
00032     SIG_Drive (SIG_Robot *par, QTextStream & tx);
00033     ~SIG_Drive (void);
00034     QString getName (void) const;
00035     int getNumber (void) const;
00036     void setJoint (SIG_Joint *j);
00037     void setMode (DriveMode dm);
00038     SIG_Joint const *getJoint (void) const;
00039     DriveMode getMode (void) const;
00040     void setForces(DL_Scalar mn, DL_Scalar mx);
00041     DL_Scalar getMinForce (void) const;
00042     DL_Scalar getMaxForce (void) const;
00043     void writeToFileTransfer (QTextStream & tx);
00044   };
00045 }
00046 
00047 #endif // SIGEL_ROBOT_SIG_DRIVE_H

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