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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_ */ |