src/AMCNode.h

   1 #pragma once
   2
   3 class AMCNode
   4 {
   5 public:
   6         AMCNode(void);
   7         ~AMCNode(void);
   8
   9         enum Channel
  10         {
  11                 TX, TY, TZ, RX, RY, RZ, LENGTH
  12         };
  13
  14         enum Axes
  15         {
  16                 XYZ, ZYX, YXZ, YZX
  17         };
  18
  19         class Limit
  20         {
  21         public:
  22                 Channel channel;
  23                 std::pair<double, double> limits;
  24         };
  25
  26         int id;
  27
  28         std::string name;
  29         double direction[3];
  30         double length;
  31         G3D::Quat axis;
  32         std::vector<Channel> channels;
  33         std::vector<Limit> limits;
  34 };
  35
  36 class AMCRoot : public AMCNode
  37 {
  38 public:
  39
  40         std::vector<Axes> axis;
  41         std::vector<Channel> order;
  42         G3D::Vector3 m_position;
  43         G3D::Quat m_orientation;
  44 };