BlenderLogicalJoints.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
/*
 * Copyright (C) 2011 Paul Fitzpatrick
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef ICUBSIMULATION_BLENDERLOGICALJOINTS_INC
#define ICUBSIMULATION_BLENDERLOGICALJOINTS_INC
 
#include "LogicalJoints.h"
 
#include <yarp/dev/DeviceDriver.h>
class BlenderLogicalJoints : public LogicalJoint, public LogicalJoints {
public:
    virtual LogicalJoint& control(int part, int axis) {
        return *this;
    }
    
    virtual double getAngle() { return 0; }
    
    virtual double getVelocity() { return 0; }
    
    virtual void setControlParameters(double vel, double acc) {}
    
    virtual void setPosition(double target) {}
    
    virtual void setVelocity(double target) {}
 
    virtual bool isValid() {
        return true;
    }
};
 
#endif