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Humanoid.h
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Humanoid.h
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/*
* Copyright (c) 2014-2016, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef EXAMPLES_ATLASSIMBICON_HUMANOID_H_
#define EXAMPLES_ATLASSIMBICON_HUMANOID_H_
#include <vector>
#include <string>
#include <Eigen/Dense>
#include "dart/dart.h"
class State;
//==============================================================================
/// \brief class Humanoid
/// \warning This class is not used now.
class Humanoid
{
public:
/// \brief Constructor
Humanoid(dart::dynamics::Skeleton* _skeleton);
/// \brief Destructor
virtual ~Humanoid();
/// \brief Get skeleton
dart::dynamics::Skeleton* getSkeleton();
/// \brief Get pelvis
dart::dynamics::BodyNode* getPelvis();
/// \brief Get left thigh
dart::dynamics::BodyNode* getLeftThigh();
/// \brief Get right thigh
dart::dynamics::BodyNode* getRightThigh();
/// \brief Get left foot
dart::dynamics::BodyNode* getLeftFoot();
/// \brief Get right foot
dart::dynamics::BodyNode* getRightFoot();
protected:
/// \brief State
dart::dynamics::Skeleton* mSkeleton;
/// \brief Pelvis
dart::dynamics::BodyNode* mPelvis;
/// \brief LeftThigh
dart::dynamics::BodyNode* mLeftThigh;
/// \brief LeftThigh
dart::dynamics::BodyNode* mRightThigh;
/// \brief Left foot
dart::dynamics::BodyNode* mLeftFoot;
/// \brief Right foot
dart::dynamics::BodyNode* mRightFoot;
/// \brief Left ankle on sagital plane
dart::dynamics::Joint* mLeftAnkleSagital;
/// \brief Left ankle on coronal plane
dart::dynamics::Joint* mLeftAnkleCoronal;
/// \brief Right ankle on sagital plane
dart::dynamics::Joint* mRightAnkleSagital;
/// \brief Right ankle on coronal plane
dart::dynamics::Joint* mRightAnkleCoronal;
};
//==============================================================================
/// \brief class AtlasRobot
/// \warning This class is not used now.
class AtlasRobot : public Humanoid
{
public:
/// \brief Constructor
AtlasRobot(dart::dynamics::Skeleton* _skeleton);
/// \brief Destructor
virtual ~AtlasRobot();
protected:
};
#endif // EXAMPLES_ATLASSIMBICON_HUMANOID_H_