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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* FixedObject.h
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*
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* Created on: Feb 10, 2009
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* Author: benoitbolsee
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*/
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#ifndef FIXEDOBJECT_HPP_
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#define FIXEDOBJECT_HPP_
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#include "UncontrolledObject.hpp"
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#include <vector>
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namespace iTaSC{
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class FixedObject: public UncontrolledObject {
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public:
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FixedObject();
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virtual ~FixedObject();
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int addFrame(const std::string& name, const Frame& frame);
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virtual void updateCoordinates(const Timestamp& timestamp) {};
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virtual int addEndEffector(const std::string& name);
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virtual void finalize();
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virtual const Frame& getPose(const unsigned int frameIndex);
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virtual void updateKinematics(const Timestamp& timestamp) {};
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virtual void pushCache(const Timestamp& timestamp) {};
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virtual void initCache(Cache *_cache) {};
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protected:
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virtual void updateJacobian() {}
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private:
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typedef std::vector<std::pair<std::string, Frame> > FrameList;
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bool m_finalized;
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unsigned int m_nframe;
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FrameList m_frameArray;
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};
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}
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#endif /* FIXEDOBJECT_H_ */
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