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Diffstat (limited to 'intern/itasc/UncontrolledObject.hpp')
-rw-r--r-- | intern/itasc/UncontrolledObject.hpp | 37 |
1 files changed, 37 insertions, 0 deletions
diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp new file mode 100644 index 00000000000..3b693a0b2ed --- /dev/null +++ b/intern/itasc/UncontrolledObject.hpp @@ -0,0 +1,37 @@ +/* $Id: UncontrolledObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $ + * UncontrolledObject.h + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef UNCONTROLLEDOBJECT_HPP_ +#define UNCONTROLLEDOBJECT_HPP_ + +#include "eigen_types.hpp" + +#include "Object.hpp" +namespace iTaSC{ + +class UncontrolledObject: public Object { +protected: + unsigned int m_nu, m_nf; + e_vector m_xudot; + std::vector<e_matrix> m_JuArray; + +public: + UncontrolledObject(); + virtual ~UncontrolledObject(); + + virtual void initialize(unsigned int _nu, unsigned int _nf); + virtual const e_matrix& getJu(unsigned int frameIndex) const; + virtual const e_vector& getXudot() const {return m_xudot;} + virtual void updateCoordinates(const Timestamp& timestamp)=0; + virtual const unsigned int getNrOfCoordinates(){return m_nu;}; + virtual const unsigned int getNrOfFrames(){return m_nf;}; + +}; + +} + +#endif /* UNCONTROLLEDOBJECT_H_ */ |