LCPForceFeedback.h

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00001 /******************************************************************************
00002 *       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
00003 *                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
00004 *                                                                             *
00005 * This library is free software; you can redistribute it and/or modify it     *
00006 * under the terms of the GNU Lesser General Public License as published by    *
00007 * the Free Software Foundation; either version 2.1 of the License, or (at     *
00008 * your option) any later version.                                             *
00009 *                                                                             *
00010 * This library is distributed in the hope that it will be useful, but WITHOUT *
00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
00013 * for more details.                                                           *
00014 *                                                                             *
00015 * You should have received a copy of the GNU Lesser General Public License    *
00016 * along with this library; if not, write to the Free Software Foundation,     *
00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
00018 *******************************************************************************
00019 *                               SOFA :: Modules                               *
00020 *                                                                             *
00021 * Authors: The SOFA Team and external contributors (see Authors.txt)          *
00022 *                                                                             *
00023 * Contact information: contact@sofa-framework.org                             *
00024 ******************************************************************************/
00025 #ifndef SOFA_COMPONENT_CONTROLLER_LCPFORCEFEEDBACK_H
00026 #define SOFA_COMPONENT_CONTROLLER_LCPFORCEFEEDBACK_H
00027 
00028 #include <sofa/component/controller/ForceFeedback.h>
00029 #include <sofa/component/controller/OmniDriver.h>
00030 #include <sofa/component/mastersolver/MasterContactSolver.h>
00031 
00032 namespace sofa
00033 {
00034 
00035 namespace component
00036 {
00037 
00038 namespace controller
00039 {
00040 using namespace std;
00041 
00045 class LCPForceFeedback : public sofa::component::controller::ForceFeedback
00046 {
00047 
00048 public:
00049     void init();
00050     Data<double> forceCoef;
00051     virtual void computeForce(double x, double y, double z, double u, double v, double w, double q, double& fx, double& fy, double& fz);
00052 
00053     LCPForceFeedback() :
00054     forceCoef(initData(&forceCoef, 0.03, "forceCoef","multiply haptic force by this coef.")) {};
00055 
00056 protected:
00057     component::odesolver::LCP* lcp;
00058     core::componentmodel::behavior::MechanicalState<Rigid3dTypes> *mState; 
00059     sofa::component::odesolver::MasterContactSolver* mastersolver;
00060 };
00061 
00062 } // namespace controller
00063 
00064 } // namespace component
00065 
00066 } // namespace sofa
00067 
00068 #endif