FrameObject.hpp

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// Copyright (c) 2017 Jordan Lack <jlack1987@gmail.com>
// RDL - Robot Dynamics Library
// Licensed under the zlib license. See LICENSE for more details.
 
#ifndef __RDL_FRAME_OBJECT_HPP__
#define __RDL_FRAME_OBJECT_HPP__
 
#include "rdl_dynamics/ReferenceFrame.hpp"
#include "rdl_dynamics/rdl_eigenmath.hpp"
 
namespace RobotDynamics
{
class FrameObject
{
  public:
    explicit FrameObject(ReferenceFramePtr referenceFrame) : referenceFrame(referenceFrame)
    {
    }
 
    virtual ~FrameObject()
    {
    }
 
    virtual void changeFrame(ReferenceFramePtr desiredFrame);
 
    inline ReferenceFramePtr getReferenceFrame() const
    {
        return referenceFrame;
    }
 
    inline void setReferenceFrame(ReferenceFramePtr frame)
    {
        referenceFrame = frame;
    }
 
    void checkReferenceFramesMatch(const FrameObject* frameObject) const
    {
        getReferenceFrame()->checkReferenceFramesMatch(frameObject->getReferenceFrame());
    }
 
    void checkReferenceFramesMatch(FrameObject* frameObject) const
    {
        getReferenceFrame()->checkReferenceFramesMatch(frameObject->getReferenceFrame());
    }
 
  protected:
    ReferenceFramePtr referenceFrame ;
 
    virtual Math::TransformableGeometricObject* getTransformableGeometricObject() = 0;
};
}  // namespace RobotDynamics
#endif  // ifndef __RDL_FRAME_OBJECT_HPP__