GripperSurface.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Surface.h>
 
namespace mc_rbdyn
{
 
struct GripperSurfaceImpl;
 
struct MC_RBDYN_DLLAPI GripperSurface : public Surface
{
public:
  GripperSurface(const std::string & name,
                 const std::string & bodyName,
                 const sva::PTransformd & X_b_s,
                 const std::string & materialName,
                 const std::vector<sva::PTransformd> & pointsFromOrigin,
                 const sva::PTransformd & X_b_motor,
                 const double & motorMaxTorque);
 
  ~GripperSurface() override;
 
  void computePoints() override;
 
  void originTransform(const sva::PTransformd & X_s_sp);
 
  std::shared_ptr<Surface> copy() const override;
 
  std::string type() const override;
 
  const std::vector<sva::PTransformd> & pointsFromOrigin() const;
 
  const sva::PTransformd & X_b_motor() const;
 
  const double & motorMaxTorque() const;
 
private:
  std::unique_ptr<GripperSurfaceImpl> impl;
};
 
} // namespace mc_rbdyn