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SIG_Dyna.h

00001 #ifndef SIGEL_SIMULATION_SIG_DYNA_H
00002 #define SIGEL_SIMULATION_SIG_DYNA_H
00003 
00004 #include "dyna.h"
00005 #include "SIGEL_Simulation/SIG_DynaJoint.h"
00006 
00007 namespace SIGEL_Simulation
00008 {
00011 class SIG_Dyna : public DL_dyna {
00012  public:
00014   SIG_Dyna(void* companion);
00016   ~SIG_Dyna();
00021   DL_vector getPointForce(DL_point * pd);
00022   DL_vector getForce();
00023   DL_vector getMomentum();
00024   DL_vector * get_inertiatensor();
00025 };
00026 
00027 };
00028 
00029 #endif // SIGEL_SIMULATION_SIG_DYNA_H

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