Object.hpp

Go to the documentation of this file.

/* SPDX-FileCopyrightText: 2009 Ruben Smits
 *
 * SPDX-License-Identifier: LGPL-2.1-or-later */
 
#ifndef OBJECT_HPP_
#define OBJECT_HPP_
 
#include "Cache.hpp"
#include "kdl/frames.hpp"
#include <string>
 
namespace iTaSC{
 
class WorldObject;
 
class Object {
public:
    enum ObjectType {Controlled, UnControlled};
    static WorldObject world;
 
private:
    ObjectType m_type;
protected:
    Cache *m_cache;
    KDL::Frame m_internalPose;
    bool m_updated;
    virtual void updateJacobian()=0;
public:
    Object(ObjectType _type):m_type(_type), m_cache(NULL), m_internalPose(F_identity), m_updated(false) {};
    virtual ~Object(){};
 
    virtual int addEndEffector(const std::string&  /*name*/){return 0;};
    virtual bool finalize(){return true;};
    virtual const KDL::Frame& getPose(const unsigned int end_effector=0){
        (void)end_effector;
        return m_internalPose;
    };
    virtual const ObjectType getType(){return m_type;};
    virtual const unsigned int getNrOfCoordinates(){return 0;};
    virtual void updateKinematics(const Timestamp& /*timestamp*/)=0;
    virtual void pushCache(const Timestamp& /*timestamp*/)=0;
    virtual void initCache(Cache * /*cache*/) = 0;
    bool updated() {return m_updated;};
    void updated(bool val) {m_updated=val;};
};
 
}
#endif /* OBJECT_HPP_ */