mbsimcontrol 4.0.0 MBSim Control Module

object_sensors.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: markus.ms.schneider@gmail.com
18 */
19
20 #ifndef _OBJECT_SENSORS_H_
21 #define _OBJECT_SENSORS_H_
22
23 #include "mbsimControl/sensor.h"
24
25 namespace MBSim {
26 class Object;
27 }
28
29 namespace MBSimControl {
30
35 class ObjectSensor : public Sensor {
36 public:
37 ObjectSensor(const std::string &name) : Sensor(name), object(nullptr) { }
38 void setObject(MBSim::Object * object_) { object=object_; }
39 void initializeUsingXML(xercesc::DOMElement *element) override;
40 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
41 protected:
42 MBSim::Object *object;
43 std::string objectString;
44 };
45
50 class GeneralizedPositionSensor : public ObjectSensor {
51 public:
52 GeneralizedPositionSensor(const std::string &name="") : ObjectSensor(name) { }
53 int getSignalSize() const override;
54 void updateSignal() override;
55 };
56
61 class GeneralizedVelocitySensor : public ObjectSensor {
62 public:
63 GeneralizedVelocitySensor(const std::string &name="") : ObjectSensor(name) { }
64 int getSignalSize() const override;
65 void updateSignal() override;
66 };
67
72 class GeneralizedAccelerationSensor : public ObjectSensor {
73 public:
74 GeneralizedAccelerationSensor(const std::string &name="") : ObjectSensor(name) { }
75 int getSignalSize() const override;
76 void updateSignal() override;
77 };
78
79 }
80
81 #endif /* _OBJECT_SENSORS_H_ */
MBSimControl::ObjectSensor
GeneralizedCoordinateSensor.
Definition: object_sensors.h:35
MBSimControl::GeneralizedPositionSensor
GeneralizedPositionSensor.
Definition: object_sensors.h:50
MBSim::Element::InitStage
InitStage
MBSimControl::GeneralizedAccelerationSensor
GeneralizedAccelerationSensor.
Definition: object_sensors.h:72
MBSimControl::Sensor
Sensor.
Definition: sensor.h:31
MBSim::Element::name
std::string name
MBSimControl::GeneralizedVelocitySensor
GeneralizedVelocitySensor.
Definition: object_sensors.h:61
MBSim::Object