diff options
author | Benoit Bolsee <benoit.bolsee@online.be> | 2009-09-25 01:22:24 +0400 |
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committer | Benoit Bolsee <benoit.bolsee@online.be> | 2009-09-25 01:22:24 +0400 |
commit | 1483fafd1372a3d3e025d08634e798adb7da512f (patch) | |
tree | 9191765749e29866339f4c31d892603f5f8b334d /intern/itasc/FixedObject.hpp | |
parent | c995c605f640d8d688e6e58e0fe247ca83f91696 (diff) | |
parent | 222fe6b1a5d49f67177cbb762f55a0e482145f5d (diff) |
Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.
Diffstat (limited to 'intern/itasc/FixedObject.hpp')
-rw-r--r-- | intern/itasc/FixedObject.hpp | 45 |
1 files changed, 45 insertions, 0 deletions
diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp new file mode 100644 index 00000000000..01ab3355259 --- /dev/null +++ b/intern/itasc/FixedObject.hpp @@ -0,0 +1,45 @@ +/* $Id: FixedObject.hpp 19905 2009-04-23 13:29:54Z ben2610 $ + * FixedObject.h + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#ifndef FIXEDOBJECT_HPP_ +#define FIXEDOBJECT_HPP_ + +#include "UncontrolledObject.hpp" +#include <vector> + + +namespace iTaSC{ + +class FixedObject: public UncontrolledObject { +public: + FixedObject(); + virtual ~FixedObject(); + + int addFrame(const std::string& name, const Frame& frame); + + virtual void updateCoordinates(const Timestamp& timestamp) {}; + virtual int addEndEffector(const std::string& name); + virtual void finalize(); + virtual const Frame& getPose(const unsigned int frameIndex); + virtual void updateKinematics(const Timestamp& timestamp) {}; + virtual void pushCache(const Timestamp& timestamp) {}; + virtual void initCache(Cache *_cache) {}; + +protected: + virtual void updateJacobian() {} +private: + typedef std::vector<std::pair<std::string, Frame> > FrameList; + + bool m_finalized; + unsigned int m_nframe; + FrameList m_frameArray; + +}; + +} + +#endif /* FIXEDOBJECT_H_ */ |