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