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/*
* 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(struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {};
virtual int addEndEffector(const std::string& name);
virtual bool 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_ */
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