---

JointVector.h

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//
//    Title     : JointVector.h
//    Project     : OSCAR Version 2.0
//    Created     : 7/12/2002
//      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//          This software and documentation constitute an unpublished work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 the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE 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 the
//          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     : This file contains the declaration of class JointVector.
//
//-----------------------------------------------------------------------------
//
//    $Revisions$
//
//    $Log: JointVector.h,v $
//    Revision 1.10  2005/10/27 01:21:00  mitch
//    added Add method that checks for consistency in active joints
//
//    Revision 1.10 2005/10/26 14:35:35  mitch
//    Added constructor method that takes a VectorNumeric as an argument.
//
//    Revision 1.9  2005/03/14 22:04:17  pmarch
//    Added to namespace OSCAR and removed "RR" from front of class names.
//
//    Revision 1.8  2004/07/19 20:02:28  djung
//    DUMMY_ERROR fix fix
//
//    Revision 1.7  2004/07/19 16:37:02  edjung
//    -made fix to constructors for ANSI C++ compliance with temporary OSCARError objects
//    -added DUMMY_ERROR class
//
//    Revision 1.6  2004/05/26 20:02:00  pmarch
//    Added /defgroup and /ingroup tags.
//
//    Revision 1.5  2004/04/19 13:36:55  eswint
//    - Added explicit keyword to constructor JointVector(int, double*)
//
//    Revision 1.4  2003/09/09 17:13:11  eswint
//    - Changed #include "Math/..." to #include "..."
//
//    Revision 1.3  2003/09/05 16:57:21  eswint
//    - Added operator=(Vector)
//
//    Revision 1.2  2003/09/04 22:47:59  eswint
//    - Change default arguments: OSCARError(0,"No Error"...) to OSCARError(noError) and String(" ") to String("")
//
//    Revision 1.1  2003/08/18 15:23:37  eswint
//    Initial Commit
//
//
#if !defined(AFX_JointVector_H__1C87AC45_EB8D_45A0_84F8_CDE2CD53324A__INCLUDED_)
#define AFX_JointVector_H__1C87AC45_EB8D_45A0_84F8_CDE2CD53324A__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "CoordinateVector.h"

namespace OSCAR {

  class JointVector : public CoordinateVector
  {

    public:

    explicit JointVector(unsigned int size, const double* array = 0);

    JointVector(unsigned int size, const CoordinateStatusArray& statArray, OSCARError& err = DUMMY_ERROR(noError));

    JointVector(const JointVector& rhs);

    virtual ~JointVector();

    JointVector& operator=(const JointVector& rhs);

    JointVector& operator=(const Vector& rhs) { CoordinateVector::operator=(rhs); return *this;}

    JointVector& operator=(const double rhs) { CoordinateVector::operator=(rhs); return *this;}
    
    bool Add( JointVector& j, JointVector& result );

  };

  #include "JointVector.ipp"
}

#endif // !defined(AFX_JointVector_H__1C87AC45_EB8D_45A0_84F8_CDE2CD53324A__INCLUDED_)

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