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