mtsODEBarrettHand.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 _mtsODEBarrettHand_h
#define _mtsODEBarrettHand_h

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

class CISST_EXPORT mtsODEBarrettHand : public mtsODEManipulatorTask {

 public:

  mtsODEBarrettHand( 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,
             osaODEWorld* world,
             const vctFrame4x4<double>& Rtw0,
             const std::string& f1f2filename,
             const std::string& f3filename ) :
  mtsODEManipulatorTask( name, period, 
             new osaODEBarrettHand( palmmodel,
                        metacarpalmodel,
                        proximalmodel,
                        intermediatemodel,
                        world,
                        Rtw0,
                        f1f2filename,
                        f3filename ),
             cpumask, priority ){}
  
  // main constructor
  mtsODEBarrettHand( 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,
             osaODEWorld* world,
             const vctFrm3& Rtw0,
             const std::string& f1f2filename,
             const std::string& f3filename ) :
  mtsODEManipulatorTask( name, period, 
             new osaODEBarrettHand( palmmodel,
                        metacarpalmodel,
                        proximalmodel,
                        intermediatemodel,
                        world,
                        Rtw0,
                        f1f2filename,
                        f3filename ),
             cpumask, priority ){}
  
};

#endif