00001 #ifndef SIGEL_SIMULATION_SIG_DYNADRIVE_H 00002 #define SIGEL_SIMULATION_SIG_DYNADRIVE_H 00003 00004 #include "SIGEL_Robot/SIG_Drive.h" 00005 #include "SIGEL_Simulation/SIG_DynaJoint.h" 00006 00007 namespace SIGEL_Simulation 00008 { 00013 class SIG_DynaDrive { 00014 public: 00016 SIGEL_Robot::SIG_Drive const * drive; 00018 int number; 00020 SIG_DynaJoint * joint; 00022 void applyForce(DL_Scalar f1, DL_Scalar f2); 00023 }; 00024 00025 }; 00026 00027 #endif // SIGEL_SIMULATION_SIG_DYNADRIVE_H