mbsimcontrol 4.0.0 MBSim Control Module

rigid_body_sensors.h
1 /* Copyright (C) 2004-2020 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: martin.o.foerg@gmail.com
18 */
19
20 #ifndef _RIGID_BODY_SENSORS_H_
21 #define _RIGID_BODY_SENSORS_H_
22
23 #include "mbsimControl/object_sensors.h"
24 #include "mbsim/utils/index.h"
25
26 namespace MBSimControl {
27
32 class RigidBodySensor : public ObjectSensor {
33 public:
34 RigidBodySensor(const std::string &name) : ObjectSensor(name) { }
35 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
36 };
37
42 class RigidBodyJointForceSensor : public RigidBodySensor {
43 public:
44 RigidBodyJointForceSensor(const std::string &name="") : RigidBodySensor(name) { }
45 void setJointForceNumber(int i_) { i = i_; }
46 int getSignalSize() const override { return 3; }
47 void updateSignal() override;
48 void initializeUsingXML(xercesc::DOMElement *element) override;
49 protected:
50 MBSim::Index i{0};
51 };
52
57 class RigidBodyJointMomentSensor : public RigidBodySensor {
58 public:
59 RigidBodyJointMomentSensor(const std::string &name="") : RigidBodySensor(name) { }
60 void setJointMomentNumber(int i_) { i = i_; }
61 int getSignalSize() const override { return 3; }
62 void updateSignal() override;
63 void initializeUsingXML(xercesc::DOMElement *element) override;
64 protected:
65 MBSim::Index i{0};
66 };
67
68 }
69
70 #endif
MBSimControl::ObjectSensor
GeneralizedCoordinateSensor.
Definition: object_sensors.h:35
MBSimControl::RigidBodyJointMomentSensor
RigidBodyJointMomentSensor.
Definition: rigid_body_sensors.h:57
MBSimControl::RigidBodyJointForceSensor
RigidBodyJointForceSensor.
Definition: rigid_body_sensors.h:42
MBSim::Element::InitStage
InitStage
MBSim::Element::name
std::string name
MBSimControl::RigidBodySensor
RigidBodySensor.
Definition: rigid_body_sensors.h:32