CTaoRepCreator.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, 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.

scl 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.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/* \file CTaoRepCreator.hpp
 *
 *  Created on: May 11, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */ 

#ifndef CTAOREPCREATOR_HPP_
#define CTAOREPCREATOR_HPP_

#include <scl/DataTypes.hpp>

#include <scl/parser/CParserBase.hpp>
#include <scl/data_structs/SRigidBody.hpp>

#include <scl/dynamics/tao/tao/dynamics/taoNode.h>

namespace scl {

  class CTaoRepCreator
  {
    CTaoRepCreator(){}
  public:
    ~CTaoRepCreator(){}

    static taoNodeRoot* taoRootRepCreator(const SRobotParsed& arg_robot);

  private:

    static bool createChildTaoNodes(const SRigidBody* arg_link,
        taoNode* arg_parent);

    static taoNode* createTaoNonRootNode(const SRigidBody* arg_link,
        const taoNode* arg_parent_node);
  };

}

#endif //CTAOREPCREATOR_HPP_