2011-10-23 17:52:20 +00:00
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/*
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2009-09-24 21:22:24 +00:00
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* Object.hpp
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*
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* Created on: Jan 5, 2009
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* Author: rubensmits
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*/
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#ifndef OBJECT_HPP_
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#define OBJECT_HPP_
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#include "Cache.hpp"
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#include "kdl/frames.hpp"
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#include <string>
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namespace iTaSC{
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class WorldObject;
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class Object {
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public:
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enum ObjectType {Controlled, UnControlled};
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static WorldObject world;
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private:
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ObjectType m_type;
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protected:
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Cache *m_cache;
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KDL::Frame m_internalPose;
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bool m_updated;
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virtual void updateJacobian()=0;
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public:
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Object(ObjectType _type):m_type(_type), m_cache(NULL), m_internalPose(F_identity), m_updated(false) {};
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virtual ~Object(){};
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virtual int addEndEffector(const std::string& name){return 0;};
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virtual void finalize(){};
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virtual const KDL::Frame& getPose(const unsigned int end_effector=0){return m_internalPose;};
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virtual const ObjectType getType(){return m_type;};
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virtual const unsigned int getNrOfCoordinates(){return 0;};
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virtual void updateKinematics(const Timestamp& timestamp)=0;
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virtual void pushCache(const Timestamp& timestamp)=0;
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virtual void initCache(Cache *_cache) = 0;
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bool updated() {return m_updated;};
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void updated(bool val) {m_updated=val;};
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};
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}
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#endif /* OBJECT_HPP_ */
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