Robotsystem of the Robot Group Leipzig: odehandle.h Source File

00001 /***************************************************************************
00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
00003  *    martius@informatik.uni-leipzig.de                                    *
00004  *    fhesse@informatik.uni-leipzig.de                                     *
00005  *    der@informatik.uni-leipzig.de                                        *
00006  *                                                                         *
00007  *   This program is free software; you can redistribute it and/or modify  *
00008  *   it under the terms of the GNU General Public License as published by  *
00009  *   the Free Software Foundation; either version 2 of the License, or     *
00010  *   (at your option) any later version.                                   *
00011  *                                                                         *
00012  *   This program is distributed in the hope that it will be useful,       *
00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00015  *   GNU General Public License for more details.                          *
00016  *                                                                         *
00017  *   You should have received a copy of the GNU General Public License     *
00018  *   along with this program; if not, write to the                         *
00019  *   Free Software Foundation, Inc.,                                       *
00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00021  *                                                                         *
00022  *   $Log: odehandle.h,v $
00023  *   Revision 1.3  2006/07/14 12:23:56  martius
00024  *   selforg becomes HEAD
00025  *
00026  *   Revision 1.2.4.1  2005/12/06 10:13:26  martius
00027  *   openscenegraph integration started
00028  *
00029  *   Revision 1.2  2005/11/09 13:31:51  martius
00030  *   GPL'ised
00031  *
00032  ***************************************************************************/
00033 #ifndef __ODEHANDLE_H
00034 #define __ODEHANDLE_H
00035 
00036 #include <ode/common.h>
00037 
00038 namespace lpzrobots {
00039 
00040 /** Data structure for accessing the ODE */
00041 class OdeHandle
00042 {
00043 public:
00044   OdeHandle( ) { }
00045   OdeHandle(  dWorldID _world, dSpaceID _space, dJointGroupID _jointGroup){
00046     world = _world; 
00047     space = _space; 
00048     jointGroup= _jointGroup;
00049   }
00050   dWorldID world;
00051   dSpaceID space;
00052   dJointGroupID jointGroup;
00053 };
00054 
00055 }
00056 
00057 #endif