intern/itasc/FixedObject.hpp

/*
 * 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 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_ */
remove $Id: tags after discussion on the mailign list: http://markmail.org/message/fp7ozcywxum3ar7n 2011-10-23 17:52:20 +00:00			`/*`
Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library. 2009-09-24 21:22:24 +00:00			`* 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);`

Pass EvaluationContext instead of bContext 2.8x branch added bContext arg in many places, pass eval-context instead since its not simple to reason about what what nested functions do when they can access and change almost anything. Also use const to prevent unexpected modifications. This fixes crash loading files with shadows, since off-screen buffers use a NULL context for rendering. 2017-08-16 12:45:11 +10:00			`virtual void updateCoordinates(const struct EvaluationContext *eval_ctx, const Timestamp& timestamp) {};`
Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library. 2009-09-24 21:22:24 +00:00			`virtual int addEndEffector(const std::string& name);`
Fix [#31544]: iTaSC assertion when creating armature with no joint. This degenerated case can be obtained by having a single bone in the IK chain and locking all 3 axis. This case was causing an assert in the KDL library. The bug is fixed by simply not creating the IK scene in this case. 2012-06-04 22:29:17 +00:00			`virtual bool finalize();`
Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library. 2009-09-24 21:22:24 +00:00			`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_ */`