FixedObject.hpp

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/*
 * 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 void 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_ */