mbsim 4.0.0 MBSim Kernel

environment.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: friedrich.at.gc@googlemail.com
18 */
19
20 #ifndef _MBSIM_ENVIRONMENT_H_
21 #define _MBSIM_ENVIRONMENT_H_
22
23 #include "fmatvec/fmatvec.h"
24 #include "fmatvec/atom.h"
25 #include <xercesc/dom/DOMElement.hpp>
26 #include <xercesc/dom/DOMNode.hpp>
27
28 namespace OpenMBV {
29 class Object;
30 }
31
32 namespace MBSim {
33
37 class Environment : virtual public fmatvec::Atom {
38 public:
39 /* INTERFACE FOR DERIVED CLASSES */
44 virtual void initializeUsingXML(xercesc::DOMElement *element) {}
45 /***************************************************/
46
47 ~Environment() override = default;
48
49 protected:
53 Environment() {};
54 };
55
59 class MBSimEnvironment : public Environment {
60 public:
61 /* INHERITED INTERFACE */
62 void initializeUsingXML(xercesc::DOMElement *element) override;
63 /***************************************************/
64
65 /* GETTER / SETTER */
66 void setAccelerationOfGravity(const fmatvec::Vec3 &grav_) { grav=grav_; }
67 const fmatvec::Vec3& getAccelerationOfGravity() const { return grav; }
68
69 void addOpenMBVObject(const std::shared_ptr<OpenMBV::Object> &object);
70 std::vector<std::shared_ptr<OpenMBV::Object>> getOpenMBVObjects();
71 /***************************************************/
72
76 MBSimEnvironment() {}
77
78 protected:
79
83 fmatvec::Vec3 grav;
84
85 std::vector<std::shared_ptr<OpenMBV::Object>> openMBVObject;
86 };
87
88 }
89
90 #endif /* _MBSIM_ENVIRONMENT_H_ */
91
MBSim::Environment
Definition: environment.h:37
MBSim::MBSimEnvironment::grav
fmatvec::Vec3 grav
acceleration of gravity
Definition: environment.h:83
MBSim::Environment::initializeUsingXML
virtual void initializeUsingXML(xercesc::DOMElement *element)
initializes environment variables by XML element
Definition: environment.h:44
MBSim::MBSimEnvironment
Definition: environment.h:59
MBSim::Environment::Environment
Environment()
constructor
Definition: environment.h:53
MBSim::MBSimEnvironment::initializeUsingXML
void initializeUsingXML(xercesc::DOMElement *element) override
initializes environment variables by XML element
Definition: environment.cc:37
MBSim::MBSimEnvironment::MBSimEnvironment
MBSimEnvironment()
constructor
Definition: environment.h:76
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30