43 lines
1.5 KiB
C++
43 lines
1.5 KiB
C++
#ifndef CUSTOM_MULTIBODY_CALLBACK_H
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#define CUSTOM_MULTIBODY_CALLBACK_H
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#ifdef USE_EIGEN
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typedef Eigen::Quaternion<double> QuaternionType;
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typedef Eigen::Vector3d<double> Vector3dType;
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typedef double ScalarType;
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#else
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typedef btQuaternion QuaternionType;
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typedef btVector3 Vector3dType;
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typedef btScalar ScalarType;
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#endif
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class CustomMultiBodyCreationCallback
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{
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public:
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virtual ~CustomMultiBodyCreationCallback() {}
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enum {
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RevoluteJoint=1,
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PrismaticJoint,
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FixedJoint,
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};
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virtual int allocateMultiBodyBase(int urdfLinkIndex, int totalNumJoints,ScalarType baseMass, const Vector3dType& localInertiaDiagonal, bool isFixedBase) const =0;
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virtual void addLinkAndJoint(int jointType, int linkIndex, // 0 to num_links-1
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int parentIndex,
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double mass,
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const Vector3dType& inertia,
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const QuaternionType &rotParentFrameToLinkFrame, // rotate points in parent frame to this frame, when q = 0
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const Vector3dType& jointAxisInLinkFrame, // in Link frame
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const Vector3dType& parentComToThisJointOffset, // vector from parent COM to joint frame, in Parent frame
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const Vector3dType& thisJointToThisComOffset) = 0; // vector from joint frame to my COM, in Link frame);
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// @todo: Decide if we need this link mapping?
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// virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) const = 0;
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};
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#endif //CUSTOM_MULTIBODY_CALLBACK_H
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