blob: 5c312cab76802d60207eb245c8b8cce869864a2c (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
|
/* $Id: Object.hpp 19907 2009-04-23 13:41:59Z ben2610 $
* Object.hpp
*
* Created on: Jan 5, 2009
* Author: rubensmits
*/
#ifndef OBJECT_HPP_
#define OBJECT_HPP_
#include "Cache.hpp"
#include "kdl/frames.hpp"
#include <string>
namespace iTaSC{
class WorldObject;
class Object {
public:
enum ObjectType {Controlled, UnControlled};
static WorldObject world;
private:
ObjectType m_type;
protected:
Cache *m_cache;
KDL::Frame m_internalPose;
bool m_updated;
virtual void updateJacobian()=0;
public:
Object(ObjectType _type):m_type(_type), m_cache(NULL), m_internalPose(F_identity), m_updated(false) {};
virtual ~Object(){};
virtual int addEndEffector(const std::string& name){return 0;};
virtual void finalize(){};
virtual const KDL::Frame& getPose(const unsigned int end_effector=0){return m_internalPose;};
virtual const ObjectType getType(){return m_type;};
virtual const unsigned int getNrOfCoordinates(){return 0;};
virtual void updateKinematics(const Timestamp& timestamp)=0;
virtual void pushCache(const Timestamp& timestamp)=0;
virtual void initCache(Cache *_cache) = 0;
bool updated() {return m_updated;};
void updated(bool val) {m_updated=val;};
};
}
#endif /* OBJECT_HPP_ */
|