32 lines
650 B
C++
32 lines
650 B
C++
/* SPDX-FileCopyrightText: 2009 Ruben Smits
|
|
*
|
|
* SPDX-License-Identifier: LGPL-2.1-or-later */
|
|
|
|
/** \file
|
|
* \ingroup intern_itasc
|
|
*/
|
|
|
|
#ifndef WORLDOBJECT_HPP_
|
|
#define WORLDOBJECT_HPP_
|
|
|
|
#include "UncontrolledObject.hpp"
|
|
namespace iTaSC{
|
|
|
|
class WorldObject: public UncontrolledObject {
|
|
public:
|
|
WorldObject();
|
|
virtual ~WorldObject();
|
|
|
|
virtual void updateCoordinates(const Timestamp& timestamp) {};
|
|
virtual void updateKinematics(const Timestamp& timestamp) {};
|
|
virtual void pushCache(const Timestamp& timestamp) {};
|
|
virtual void initCache(Cache *_cache) {};
|
|
protected:
|
|
virtual void updateJacobian() {}
|
|
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* WORLDOBJECT_H_ */
|