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.

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_ */