osaODEServoMotor.h

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#ifndef _osaODEServoMotor_h
#define _osaODEServoMotor_h

#include <ode/ode.h>

#include <cisstVector/vctFixedSizeVector.h>
#include <sawOpenDynamicsEngine/sawOpenDynamicsEngineExport.h>

class CISST_EXPORT osaODEServoMotor {

 private:

  dJointID motorid;

  double vwmax;
  double ftmax;

 public:

  osaODEServoMotor( dWorldID world, 
            dBodyID body1, 
            dBodyID body2,
            const vctFixedSizeVector<double,3>& axis,
            double vwmax,
            double ftmax,
            dJointType motortype );

  dJointID MotorID() const;

  void SetPosition( double qs, double q, double dt );
  void SetVelocity( double qd );

};

#endif