forked from blender/blender
39 lines
896 B
C++
39 lines
896 B
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
|
|
*
|
|
* SPDX-License-Identifier: LGPL-2.1-or-later */
|
|
|
|
/** \file
|
|
* \ingroup intern_itasc
|
|
*/
|
|
|
|
#ifndef UNCONTROLLEDOBJECT_HPP_
|
|
#define UNCONTROLLEDOBJECT_HPP_
|
|
|
|
#include "eigen_types.hpp"
|
|
|
|
#include "Object.hpp"
|
|
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 Timestamp& timestamp)=0;
|
|
virtual const unsigned int getNrOfCoordinates(){return m_nu;};
|
|
virtual const unsigned int getNrOfFrames(){return m_nf;};
|
|
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* UNCONTROLLEDOBJECT_H_ */
|