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FKJacobianBase.h

Go to the documentation of this file.

//      Title       :  FKJacobianBase.h
//      Project     :  OSCAR
//      Created     :  11/6/2002 12:53:41 PM
//      Author      :  Chetan Kapoor
//      Platforms   :  All
//      Copyright   :  Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//                 This software and documentation constitute an unpublished work
//                 and contain valuable trade secrets and proprietary information
//                 belonging to University.  None of the foregoing material may be
//                 copied  or duplicated or disclosed without the express, written
//                 permission of University.  UNIVERSITY EXPRESSLY DISCLAIMS ANY
//                 AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//                 INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//                 PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//                 THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//                 NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//                 THE SOFTWARE OR DOCUMENTATION.  Under no circumstances shall
//                 University be liable for incidental, special, indirect, direct or
//                 consequential damages or loss of profits, interruption of business,
//                 or related expenses which may arise from use of software or documentation,
//                 including but not limited to those resulting from defects in software
//                 and/or documentation, or loss or inaccuracy of data of any kind.
//      Purpose     :  Specifies the Interface for Jacobian Level Forward Kinematics
//-----------------------------------------------------------------------------
//      Classes     :  <none>
//                
//      Global         <none>
//      Functions   :  
//      Global      :  <none>
//      Variables   :  
//-----------------------------------------------------------------------------
//      $Revisions$    
//                                      
//      $Log: FKJacobianBase.h,v $
//      Revision 1.4  2005/03/14 21:52:58  pmarch
//      Added to namespace OSCAR and removed "RR" from front of class names.
//      
//      Revision 1.3  2004/07/23 22:19:50  chetan
//      Made changes to compile with Warning Level 4 and also under the latest C++ standard
//      
//      Revision 1.2  2004/05/26 20:10:11  pmarch
//      Added /defgroup and /ingroup tags.
//      
//      Revision 1.1  2003/08/18 20:32:19  pmarch
//      Initial commit of ForwardKinematics
//                              
//                                      


#ifndef FKJacobianBase_hpp
#define FKJacobianBase_hpp

#include "Base/Base.h"
#include "Math/Vector.h"
#include "Math/Matrix.h"

namespace OSCAR {

  class FKJacobianBase : public virtual Base
  {
  public:
    FKJacobianBase(OSCARError& err = DUMMY_ERROR(noError), const String& name = String(" "));


    FKJacobianBase(const FKJacobianBase& fkBase);


  FKJacobianBase& operator=(const FKJacobianBase& fkBase);

    virtual const Matrix* GetJacobian(const Vector& jointVector) = 0;   


    virtual ~FKJacobianBase();
  };

  #include "ForwardKinematics/FKJacobianBase.ipp"

}
#endif  // FKJacobianBase_hpp

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