---

IDSANewtonEuler.h

Go to the documentation of this file.

//
//      Title           : IDSANewtonEuler.h
//      Project         : OSCAR Version 2.0
//      Created         : Fri Jan 31 14:05:48 2003
//      Author          : Chalongrath Pholsiri
//      Platforms       : All
//      Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//      Purpose         : Class for Standalone inverse dynamics using Newton-Euler.
//
//----------------------------------------------------------------------------
//
//      $Revisions$
//
//      $Log: IDSANewtonEuler.h,v $
//      Revision 1.5  2005/03/14 21:52:06  pmarch
//      Added to namespace OSCAR and removed "RR" from front of class names.
//
//      Revision 1.4  2004/05/28 18:57:57  pmarch
//      Added /defgroup and /ingroup tags.
//
//      Revision 1.3  2004/02/19 22:10:08  josh
//      - Removed constructor from IDStandAlone
//
//      Revision 1.2  2003/09/16 19:17:48  josh
//      - Updated documentation
//
//      Revision 1.1  2003/08/18 21:17:48  josh
//      Initial commit
//
//

#ifndef IDSANewtonEuler_hpp
#define IDSANewtonEuler_hpp

#include "IDStandAlone.h"
#include "IDNewtonEuler.h"
#include "ForwardKinematics/FKJacobian.h"

namespace OSCAR {

  class IDSANewtonEuler : public IDStandAlone
  {
  public:
  
    IDSANewtonEuler(IDNewtonEuler *id, FKJacobian* fk);

    virtual bool SetJointPosition(const Vector& position);
    
  protected:
    FKJacobian          *fkJacobian;
  };

}

#endif  // IDSANewtonEuler_hpp

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