mtsODEManipulator.h

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/*
  Author(s): Simon Leonard
  Created on: Dec 02 2009

  (C) Copyright 2009 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _mtsODEManipulator_h
#define _mtsODEManipulator_h

#include <sawOpenDynamicsEngine/mtsODEManipulatorTask.h>
#include <sawOpenDynamicsEngine/osaODEManipulator.h>
#include <sawOpenDynamicsEngine/sawOpenDynamicsEngineExport.h>

class CISST_EXPORT mtsODEManipulator : public mtsODEManipulatorTask {

 public:

  mtsODEManipulator( const std::string& name,
             double period,
             osaCPUMask cpumask,
             int priority,
             const std::vector<std::string>& models,
             osaODEWorld* world,
             const vctFrame4x4<double>& Rtw0,
             const std::string& robfilename,
             const std::string& basemodel,
             const vctDynamicVector<double>& qinit ):
    mtsODEManipulatorTask( name, period, 
               new osaODEManipulator( models,
                            world,
                            Rtw0,
                            robfilename,
                            basemodel,
                            qinit ),
               cpumask, priority ){}
  
  // main constructor
  mtsODEManipulator( const std::string& name,
             double period,
             osaCPUMask cpumask,
             int priority,
             const std::vector<std::string>& models,
             osaODEWorld* world,
             const vctFrm3& Rtw0,
             const std::string& robfilename,
             const std::string& basemodel,
             const vctDynamicVector<double>& qinit ):
    mtsODEManipulatorTask( name, period, 
               new osaODEManipulator( models,
                            world,
                            Rtw0,
                            robfilename,
                            basemodel,
                            qinit ),
               cpumask, priority ){}

};

#endif