physics/Motor

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/****************************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: Motor 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_MOTOR_
#define _PHYSICS_MOTOR_

#include <base/ReferencedObject>
#include <physics/physics>

namespace physics {

class Joint;


class Motor : public base::ReferencedObject
{
public:
  Motor() {}
  virtual ~Motor() {}

  virtual void setTargetVel(Real vel) = 0;  ///< target linear or angular velocity 
  virtual void setMaxForce(Real force) = 0; ///< limit on applied force or torque

  virtual ref<Joint> getJoint() = 0; ///< Joint which Motor drives
  virtual void setParameter(const String& name, Real value)
    { throw std::invalid_argument(Exception("unknown parameter name")); }
};


} // physics

#endif

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