Blender V2.61 - r43446

UncontrolledObject.hpp

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00001 /*
00002  * UncontrolledObject.h
00003  *
00004  *  Created on: Jan 5, 2009
00005  *      Author: rubensmits
00006  */
00007 
00008 #ifndef UNCONTROLLEDOBJECT_HPP_
00009 #define UNCONTROLLEDOBJECT_HPP_
00010 
00011 #include "eigen_types.hpp"
00012 
00013 #include "Object.hpp"
00014 namespace iTaSC{
00015 
00016 class UncontrolledObject: public Object {
00017 protected:
00018     unsigned int m_nu, m_nf;
00019     e_vector m_xudot;
00020     std::vector<e_matrix> m_JuArray;
00021 
00022 public:
00023     UncontrolledObject();
00024     virtual ~UncontrolledObject();
00025 
00026     virtual void initialize(unsigned int _nu, unsigned int _nf);
00027     virtual const e_matrix& getJu(unsigned int frameIndex) const;
00028     virtual const e_vector& getXudot() const {return m_xudot;}
00029     virtual void updateCoordinates(const Timestamp& timestamp)=0;
00030     virtual const unsigned int getNrOfCoordinates(){return m_nu;};
00031     virtual const unsigned int getNrOfFrames(){return m_nf;};
00032 
00033 };
00034 
00035 }
00036 
00037 #endif /* UNCONTROLLEDOBJECT_H_ */