osaODEBarrettHand.h

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#ifndef _osaODEBarrettHand_h
#define _osaODEBarrettHand_h

#include <sawOpenSceneGraph/osaOSGBH.h>
#include <sawOpenDynamicsEngine/osaODEWorld.h>
#include <sawOpenDynamicsEngine/sawOpenDynamicsEngineExport.h>



class CISST_EXPORT osaODEBarrettHand : public osaOSGBH {

 public:

  osaODEBarrettHand( const std::string& palmmodel,
             const std::string& metacarpalmodel,
             const std::string& proximalmodel,
             const std::string& intermediatemodel,
             osaODEWorld* world,
             const vctFrame4x4<double>& Rtw0,
             const std::string& f1f2filename,
             const std::string& f3filename );
  
  osaODEBarrettHand( const std::string& palmmodel,
             const std::string& metacarpalmodel,
             const std::string& proximalmodel,
             const std::string& intermediatemodel,
             osaODEWorld* world,
             const vctFrm3& Rtw0,
             const std::string& f1f2filename,
             const std::string& f3filename );
  
  ~osaODEBarrettHand();
  
};

#endif