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/*
* UncontrolledObject.h
*
* Created on: Jan 5, 2009
* Author: rubensmits
*/
#ifndef UNCONTROLLEDOBJECT_HPP_
#define UNCONTROLLEDOBJECT_HPP_
#include "eigen_types.hpp"
#include "Object.hpp"
struct EvaluationContext;
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 struct EvaluationContext *eval_ctx, const Timestamp& timestamp)=0;
virtual const unsigned int getNrOfCoordinates(){return m_nu;};
virtual const unsigned int getNrOfFrames(){return m_nf;};
};
}
#endif /* UNCONTROLLEDOBJECT_H_ */
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