basic/kinematics/LinkBase.h

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#ifndef LinkBase_h
#define LinkBase_h 1

#ifdef _MSC_VER
    #pragma warning( disable : 4786 )
#endif

#include "universe\NamedElement.h"
#include "geometry\ObjectBase.h"
#include "Kinematics\FrameManager.h"
#include <set>
#include <vector>


class DH_Link;
class IfstreamWithComments;

using std::ostream ;
using std::istream ;

class LinkBase : public NamedElement
{
  public:
      virtual ~LinkBase();

      virtual void UpdateFrames () const = 0;

      //## Operation: SetBaseFrame%924379573
      void SetBaseFrame (const unsigned int frame);

      //## Operation: BaseFrameNum%924379575
      unsigned int BaseFrameNum () const;

      //## Operation: Clone%924739819
      virtual LinkBase* Clone () const = 0;

      //## Operation: SetFrameManager%924978290
      void SetFrameManager (FrameManager* frameManager);

      //## Operation: SetJointVariable%925420851
      virtual void SetJointVariable (const double newValue) = 0;

      //## Operation: JointMax%928194468
      double JointMax () const;

      //## Operation: JointMin%928194469
      double JointMin () const;

      //## Operation: JointWraps%928194470
      bool JointWraps () const;

      //## Operation: SetJointMax%928263336
      void SetJointMax (const double jointMax);

      //## Operation: SetJointMin%928263337
      void SetJointMin (const double jointMin);

      //## Operation: SetJointLimits%928263338
      void SetJointLimits (const double limit1, const double limit2);

      //## Operation: DoesLinkControlFrame%928263348
      virtual bool DoesLinkControlFrame (const unsigned int frameNum) const = 0;

      //## Operation: Serialize%933801285
      virtual void Serialize (ostream& os) const;

      //## Operation: DeSerializeAbstract%935084509
      static LinkBase* DeSerializeAbstract (IfstreamWithComments& is, FrameManager* frameManager);

      //## Operation: SetPositioningFrame%969569781
      void SetPositioningFrame (const Matrix4x4& positioningFrame);

      //## Operation: DeSerialize%935084510
      virtual bool DeSerialize (IfstreamWithComments& is);

    // Data Members for Class Attributes

      //## Attribute: directlyDependantObjects%3755D91603AC
      //## begin LinkBase::directlyDependantObjects%3755D91603AC.attr preserve=no  public: std::set< unsigned int> {UA} 
      std::set< unsigned int> directlyDependantObjects;
      //## end LinkBase::directlyDependantObjects%3755D91603AC.attr

      //## Attribute: indirectlyDependantObjects%3755D93602EA
      //## begin LinkBase::indirectlyDependantObjects%3755D93602EA.attr preserve=no  public: std::set< unsigned int > {UA} 
      std::set< unsigned int > indirectlyDependantObjects;
      //## end LinkBase::indirectlyDependantObjects%3755D93602EA.attr

      //## Attribute: objects%3755E8E50148
      //## begin LinkBase::objects%3755E8E50148.attr preserve=no  public: std::vector< ObjectBase* > {UA} 
      std::vector< ObjectBase* > objects;
      //## end LinkBase::objects%3755E8E50148.attr

      //## Attribute: controlledFrames%377446700387
      //## begin LinkBase::controlledFrames%377446700387.attr preserve=no  public: std::vector< unsigned int > {UA} 
      std::vector< unsigned int > controlledFrames;
      //## end LinkBase::controlledFrames%377446700387.attr

  protected:
    //## Constructors (specified)
      //## Operation: LinkBase%924391853
      LinkBase (FrameManager* frameManager);

      //## Operation: LinkBase%925178922
      LinkBase (const LinkBase& right);

    // Data Members for Class Attributes

      //## Attribute: baseFrame%37191CD50302
      //## begin LinkBase::baseFrame%37191CD50302.attr preserve=no  protected: unsigned int {UA} 
      unsigned int baseFrame;
      //## end LinkBase::baseFrame%37191CD50302.attr

      //## Attribute: jointMax%37531F7602D7
      //## begin LinkBase::jointMax%37531F7602D7.attr preserve=no  protected: double {UA} 
      double jointMax;
      //## end LinkBase::jointMax%37531F7602D7.attr

      //## Attribute: jointMin%37531F800097
      //## begin LinkBase::jointMin%37531F800097.attr preserve=no  protected: double {UA} 
      double jointMin;
      //## end LinkBase::jointMin%37531F800097.attr

      //## Attribute: jointWraps%37531F8B02C3
      //## begin LinkBase::jointWraps%37531F8B02C3.attr preserve=no  protected: bool {UA} 
      bool jointWraps;
      //## end LinkBase::jointWraps%37531F8B02C3.attr

      //## Attribute: positioningFrame%39CA7CBD004F
      //## begin LinkBase::positioningFrame%39CA7CBD004F.attr preserve=no  protected: Matrix4x4 {UA} 
      Matrix4x4 positioningFrame;
      //## end LinkBase::positioningFrame%39CA7CBD004F.attr

    // Data Members for Associations

      //## Association: Kinematics::<unnamed>%37191A2B0258
      //## Role: LinkBase::frameManager%37191A2C005A
      //## begin LinkBase::frameManager%37191A2C005A.role preserve=no  protected: FrameManager { -> 1RHAN}
      FrameManager* frameManager;
      //## end LinkBase::frameManager%37191A2C005A.role
        
  private:
    // Additional Private Declarations
      //## begin LinkBase%3707C4E603CA.private preserve=yes
      //## end LinkBase%3707C4E603CA.private

  private: //## implementation
    // Additional Implementation Declarations
      //## begin LinkBase%3707C4E603CA.implementation preserve=yes
      //## end LinkBase%3707C4E603CA.implementation

};

//## begin LinkBase%3707C4E603CA.postscript preserve=yes
std::ostream & operator<<( std::ostream &os, const LinkBase& v ) ;
std::istream & operator>>( std::istream &is, LinkBase& v ) ;
//## end LinkBase%3707C4E603CA.postscript

// Class LinkBase 

//## begin module%3707C4E603CA.epilog preserve=yes
//## end module%3707C4E603CA.epilog


#endif

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