Blender  V3.3
UncontrolledObject.hpp
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1 /* SPDX-License-Identifier: LGPL-2.1-or-later
2  * Copyright 2009 Ruben Smits. */
3 
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;
20  std::vector<e_matrix> m_JuArray;
21 
22 public:
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_ */
virtual const e_matrix & getJu(unsigned int frameIndex) const
std::vector< e_matrix > m_JuArray
virtual const e_vector & getXudot() const
virtual const unsigned int getNrOfFrames()
virtual void initialize(unsigned int _nu, unsigned int _nf)
virtual const unsigned int getNrOfCoordinates()
virtual void updateCoordinates(const Timestamp &timestamp)=0
#define e_vector
Definition: eigen_types.hpp:38
#define e_matrix
Definition: eigen_types.hpp:40