Actuator.h

#ifndef BIORBD_ACTUATORS_ACTUATOR_H
#define BIORBD_ACTUATORS_ACTUATOR_H
 
#include <memory>
#include "biorbdConfig.h"
#include "Actuators/ActuatorEnums.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class String;
}
 
namespace actuator {
 
class BIORBD_API Actuator
{
public:
 
    Actuator();
    
    Actuator(
            const biorbd::actuator::Actuator& other);
 
    Actuator(
            int direction,
            unsigned int dofIdx);
 
    Actuator(
            int direction,
            unsigned int dofIdx,
            const biorbd::utils::String &jointName);
 
    virtual ~Actuator();
 
    void DeepCopy(
            const biorbd::actuator::Actuator& other);
 
    unsigned int index() const;
 
    int direction() const;
 
    biorbd::actuator::TYPE type() const;
 
    virtual biorbd::utils::Scalar torqueMax() = 0;
 
protected:
    virtual void setType() = 0;                
 
    std::shared_ptr<biorbd::actuator::TYPE> m_type; 
    std::shared_ptr<int> m_direction; 
 
    std::shared_ptr<biorbd::utils::String> m_jointName; 
    std::shared_ptr<unsigned int> m_dofIdx;
 
};
 
}}
 
#endif // BIORBD_ACTUATORS_ACTUATOR_H