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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), link(NULL), linkString("") {}
38  std::string getType() const { return "LinkSensor"; }
39  void initializeUsingXML(xercesc::DOMElement *element);
40  void init(InitStage stage);
41  void setLink(MBSim::Link * link_) {link=link_; }
42  protected:
43  MBSim::Link * link;
44  std::string linkString;
45  };
46 
51  class LinkDistanceSensor : public LinkSensor {
52  public:
53  LinkDistanceSensor(const std::string &name="") : LinkSensor(name) {}
54  std::string getType() const { return "LinkDistanceSensor"; }
55  fmatvec::VecV getSignal();
56  };
57 
62  class LinkVelocitySensor : public LinkSensor {
63  public:
64  LinkVelocitySensor(const std::string &name="") : LinkSensor(name) {}
65  std::string getType() const { return "LinkVelocitySensor"; }
66  fmatvec::VecV getSignal();
67  };
68 
69 }
70 
71 #endif /* _LINK_SENSORS_H_ */
LinkDistanceSensor.
Definition: link_sensors.h:51
AbsoluteVelocitySensor.
Definition: link_sensors.h:62
Sensor.
Definition: sensor.h:31
LinkSensor.
Definition: link_sensors.h:35

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