FixedObject.hpp

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/* SPDX-FileCopyrightText: 2009 Benoit Bolsee
 *
 * SPDX-License-Identifier: LGPL-2.1-or-later */
 
#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 bool 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_ */