forked from blender/blender
46 lines
968 B
C++
46 lines
968 B
C++
/*
|
|
* 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 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_ */
|