osaOSGBH.h

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#ifndef _devOSGBH_h
#define _devOSGBH_h

#include <sawOpenSceneGraph/osaOSGManipulator.h>
#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>



class CISST_EXPORT osaOSGBH : public osaOSGManipulator {

 protected:

  osg::ref_ptr<osaOSGManipulator> f1; // Finger 1 
  osg::ref_ptr<osaOSGManipulator> f2; // Finger 2
  osg::ref_ptr<osaOSGManipulator> f3; // Finger 3

 protected:

  osaOSGBH( const vctFrame4x4<double>& Rtw0, const std::string& robotfile ):
    osaOSGManipulator( Rtw0, robotfile ),
    f1( NULL ),
    f2( NULL ),
    f3( NULL ){}

  osaOSGBH( const vctFrm3& Rtw0, const std::string& robotfile ):
    osaOSGManipulator( Rtw0, robotfile ),
    f1( NULL ),
    f2( NULL ),
    f3( NULL ){}

 public:

  osaOSGBH( const std::string& palmmodel,
          const std::string& metacarpalmodel,
          const std::string& proximalmodel,
          const std::string& intermediatemodel,
          osaOSGWorld* world,
          const vctFrame4x4<double>& Rtw0,
          const std::string& f1f2filename,
          const std::string& f3filename );

  osaOSGBH( const std::string& palmmodel,
          const std::string& metacarpalmodel,
          const std::string& proximalmodel,
          const std::string& intermediatemodel,
          osaOSGWorld* world,
          const vctFrm3& Rtw0,
          const std::string& f1f2filename,
          const std::string& f3filename );

  ~osaOSGBH();

  void Initialize();


  virtual osaOSGBH::Errno GetPositions( vctDynamicVector<double>& q ) const;


  virtual osaOSGBH::Errno SetPositions( const vctDynamicVector<double>& qs );

};

#endif