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/* SPDX-FileCopyrightText: 2009 Ruben Smits
*
* SPDX-License-Identifier: LGPL-2.1-or-later */
/** \file
* \ingroup intern_itasc
*/
#ifndef OBJECT_HPP_
#define OBJECT_HPP_
#include "Cache.hpp"
#include "kdl/frames.hpp"
#include <string>
namespace iTaSC{
class WorldObject;
class Object {
public:
enum ObjectType {Controlled, UnControlled};
static WorldObject world;
private:
ObjectType m_type;
protected:
Cache *m_cache;
KDL::Frame m_internalPose;
bool m_updated;
virtual void updateJacobian()=0;
public:
Object(ObjectType _type):m_type(_type), m_cache(NULL), m_internalPose(F_identity), m_updated(false) {};
virtual ~Object(){};
virtual int addEndEffector(const std::string& /*name*/){return 0;};
virtual bool finalize(){return true;};
virtual const KDL::Frame& getPose(const unsigned int end_effector=0){
(void)end_effector;
return m_internalPose;
};
virtual const ObjectType getType(){return m_type;};
virtual const unsigned int getNrOfCoordinates(){return 0;};
virtual void updateKinematics(const Timestamp& /*timestamp*/)=0;
virtual void pushCache(const Timestamp& /*timestamp*/)=0;
virtual void initCache(Cache * /*cache*/) = 0;
bool updated() {return m_updated;};
void updated(bool val) {m_updated=val;};
};
}
#endif /* OBJECT_HPP_ */
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