basic/robots/R_OpenChain.h

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#ifndef R_OpenChain_h
#define R_OpenChain_h 1

#pragma warning( disable : 4786 )

#include "robots\RobotBase.h"

class Frame;
class LinkBase;

class R_OpenChain : public RobotBase  //## Inherits: <unnamed>%3718ED9001AE
{

  public:
      R_OpenChain (const R_OpenChain& right);

      R_OpenChain (FrameManager* frameManager);

      virtual ~R_OpenChain();


      //        appends a link onto the very end of the robot
      //        manipulator.  This link should have been allocated
      //        previously, but the robot now retains control of the
      //        pointer.
      void AppendLink (const LinkBase* link);

      //        returns the number of degrees of freedom in a robot
      virtual unsigned int DOF () const;

      //        this operation allocates memory for a copy of this
      //        object, and returns a pointer to this new instantiation.
      virtual Entity* Clone () const;

      //        Returns a list of pointers to all the links that compose
      //        the robot.
      virtual std::list< LinkBase*> GetAllLinks () const;
          virtual std::list< int > GetAllToolFrames() const;
      virtual LinkBase* GetLink( const unsigned int i );

          // Adds a tool frame to a paritcular robot
      void AddToolFrame( const Frame& frame, const int baseFrameNum );

      virtual bool CanCheckInterference (const Entity* entity) const;

      virtual bool IsInterfering (const Entity* entity) const;

          virtual bool Deserialize( IfstreamWithComments& is ) ;

          //Added by Zhenwang.Yao 2003.01
          int GetToolFrame(int index);

  protected:
      std::vector< int > m_ToolFrames;
      std::vector< int > m_ToolFrameBases;
      std::vector< LinkBase* > links;
};

#endif

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