UncontrolledObject.hpp

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