mbsimcontrol 4.0.0 MBSim Control Module

link_sensors.h
1 /* Copyright (C) 2004-2010 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 _LINK_SENSORS_H_
21 #define _LINK_SENSORS_H_
22
23 #include "mbsimControl/sensor.h"
24
25 namespace MBSim {
26 class Link;
27 }
28
29 namespace MBSimControl {
30
35 class LinkSensor : public Sensor {
36 public:
37 LinkSensor(const std::string &name) : Sensor(name) { }
38 void initializeUsingXML(xercesc::DOMElement *element) override;
39 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
40 void setLink(MBSim::Link * link_) { link = link_; }
41 protected:
42 MBSim::Link *link{nullptr};
43 std::string linkString;
44 };
45
50 class GeneralizedRelativePositionSensor : public LinkSensor {
51 public:
52 GeneralizedRelativePositionSensor(const std::string &name="") : LinkSensor(name) { }
53 int getSignalSize() const override;
54 void updateSignal() override;
55 };
56
61 class GeneralizedRelativeVelocitySensor : public LinkSensor {
62 public:
63 GeneralizedRelativeVelocitySensor(const std::string &name="") : LinkSensor(name) { }
64 int getSignalSize() const override;
65 void updateSignal() override;
66 };
67
72 class GeneralizedForceSensor : public LinkSensor {
73 public:
74 GeneralizedForceSensor(const std::string &name="") : LinkSensor(name) { }
75 int getSignalSize() const override;
76 void updateSignal() override;
77 };
78
79 }
80
81 #endif /* _LINK_SENSORS_H_ */
MBSimControl::GeneralizedRelativePositionSensor
GeneralizedRelativePositionSensor.
Definition: link_sensors.h:50
MBSimControl::GeneralizedForceSensor
GeneralizedForceSensor.
Definition: link_sensors.h:72
MBSim::Link
MBSimControl::GeneralizedRelativeVelocitySensor
GeneralizedRelativeVelocitySensor.
Definition: link_sensors.h:61
MBSim::Element::InitStage
InitStage
MBSimControl::Sensor
Sensor.
Definition: sensor.h:31
MBSim::Element::name
std::string name
MBSimControl::LinkSensor
LinkSensor.
Definition: link_sensors.h:35