mtsOSGBH.h

Go to the documentation of this file.

/*
  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 _mtsOSGBH_h
#define _mtsOSGBH_h

#include <sawOpenSceneGraph/mtsOSGManipulatorTask.h>
#include <sawOpenSceneGraph/osaOSGBH.h>
#include <sawOpenSceneGraph/sawOpenSceneGraphExport.h>

class mtsOSGBH : public mtsOSGManipulatorTask {

 public:

  mtsOSGBH( const std::string& name,
        double period,
        osaCPUMask cpumask,
        int priority,
        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 ) :
    mtsOSGManipulatorTask( name, period, 
               new osaOSGBH( palmmodel,
                       metacarpalmodel,
                       proximalmodel,
                       intermediatemodel,
                       world,
                       Rtw0,
                       f1f2filename,
                       f3filename ),
               cpumask, priority ){}
  
  // main constructor
  mtsOSGBH( const std::string& name,
        double period,
        osaCPUMask cpumask,
        int priority,
        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 ) :
    mtsOSGManipulatorTask( name, period, 
               new osaOSGBH( palmmodel,
                       metacarpalmodel,
                       proximalmodel,
                       intermediatemodel,
                       world,
                       Rtw0,
                       f1f2filename,
                       f3filename ),
               cpumask, priority ){}

};

#endif