FrameObject.hpp

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/*
 * RDL - Robot Dynamics Library
 * Copyright (c) 2017 Jordan Lack <jlack1987@gmail.com>
 *
 * 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.h"

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__