Merge of itasc branch. Project files, scons and cmake should be working. Makefile...
[blender.git] / intern / itasc / UncontrolledObject.hpp
1 /* $Id: UncontrolledObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $
2  * UncontrolledObject.h
3  *
4  *  Created on: Jan 5, 2009
5  *      Author: rubensmits
6  */
7
8 #ifndef UNCONTROLLEDOBJECT_HPP_
9 #define UNCONTROLLEDOBJECT_HPP_
10
11 #include "eigen_types.hpp"
12
13 #include "Object.hpp"
14 namespace iTaSC{
15
16 class UncontrolledObject: public Object {
17 protected:
18         unsigned int m_nu, m_nf;
19         e_vector m_xudot;
20         std::vector<e_matrix> m_JuArray;
21
22 public:
23     UncontrolledObject();
24     virtual ~UncontrolledObject();
25
26         virtual void initialize(unsigned int _nu, unsigned int _nf);
27         virtual const e_matrix& getJu(unsigned int frameIndex) const;
28     virtual const e_vector& getXudot() const {return m_xudot;}
29         virtual void updateCoordinates(const Timestamp& timestamp)=0;
30     virtual const unsigned int getNrOfCoordinates(){return m_nu;};
31     virtual const unsigned int getNrOfFrames(){return m_nf;};
32
33 };
34
35 }
36
37 #endif /* UNCONTROLLEDOBJECT_H_ */