38 lines
849 B
C++
38 lines
849 B
C++
/*
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* UncontrolledObject.h
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*
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* Created on: Jan 5, 2009
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* Author: rubensmits
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*/
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#ifndef UNCONTROLLEDOBJECT_HPP_
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#define UNCONTROLLEDOBJECT_HPP_
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#include "eigen_types.hpp"
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#include "Object.hpp"
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namespace iTaSC{
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class UncontrolledObject: public Object {
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protected:
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unsigned int m_nu, m_nf;
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e_vector m_xudot;
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std::vector<e_matrix> m_JuArray;
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public:
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UncontrolledObject();
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virtual ~UncontrolledObject();
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virtual void initialize(unsigned int _nu, unsigned int _nf);
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virtual const e_matrix& getJu(unsigned int frameIndex) const;
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virtual const e_vector& getXudot() const {return m_xudot;}
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virtual void updateCoordinates(const Timestamp& timestamp)=0;
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virtual const unsigned int getNrOfCoordinates(){return m_nu;};
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virtual const unsigned int getNrOfFrames(){return m_nf;};
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};
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}
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#endif /* UNCONTROLLEDOBJECT_H_ */
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