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https://github.com/bulletphysics/bullet3
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46 lines
1.9 KiB
C++
46 lines
1.9 KiB
C++
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#ifndef MULTI_BODY_TREE_CREATOR_HPP_
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#define MULTI_BODY_TREE_CREATOR_HPP_
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#include <string>
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#include <vector>
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#include "BulletInverseDynamics/IDConfig.hpp"
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#include "BulletInverseDynamics/IDMath.hpp"
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#include "BulletInverseDynamics/MultiBodyTree.hpp"
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#include "MultiBodyNameMap.hpp"
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namespace btInverseDynamics {
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/// Interface class for initializing a MultiBodyTree instance.
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/// Data to be provided is modeled on the URDF specification.
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/// The user can derive from this class in order to programmatically
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/// initialize a system.
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class MultiBodyTreeCreator {
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public:
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/// the dtor
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virtual ~MultiBodyTreeCreator() {}
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/// Get the number of bodies in the system
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/// @param num_bodies write number of bodies here
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/// @return 0 on success, -1 on error
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virtual int getNumBodies(int* num_bodies) const = 0;
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/// Interface for accessing link mass properties.
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/// For detailed description of data, @sa MultiBodyTree::addBody
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/// \copydoc MultiBodyTree::addBody
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virtual int getBody(const int body_index, int* parent_index, JointType* joint_type,
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vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
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vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
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mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
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/// @return a pointer to a name mapping utility class, or 0x0 if not available
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virtual const MultiBodyNameMap* getNameMap() const {return 0x0;}
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};
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/// Create a multibody object.
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/// @param creator an object implementing the MultiBodyTreeCreator interface
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/// that returns data defining the system
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/// @return A pointer to an allocated multibodytree instance, or
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/// 0x0 if an error occured.
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MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
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}
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// does urdf have gravity direction ??
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#endif // MULTI_BODY_TREE_CREATOR_HPP_
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