basic/universe/Universe.h

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#ifndef Universe_h
#define Universe_h 1

#include "CollisionDetectors\CD_JointLimits.h"

#include "Kinematics\FrameManager.h"


class Configuration;
class DH_Link;
class Entity;
class IfstreamWithComments;
class LinkBase;
class Mesh;
class RobotBase;

class Universe : public CD_JointLimits  //## Inherits: <unnamed>%375439E90135
{
  //## begin Universe%36FB1455010E.initialDeclarations preserve=yes
  //## end Universe%36FB1455010E.initialDeclarations

  public:
    //## Constructors (specified)
      //## Operation: Universe%961125355
      Universe ();

      //## Operation: Universe%961125358
      Universe (const Universe& right);

    //## Destructor (generated)
      virtual ~Universe();


    //## Other Operations (specified)
      //## Operation: AddEntity%922649211
      void AddEntity (Entity* entity);

      //## Operation: AddLink%924739817
      void AddLink (LinkBase* link);

      //## Operation: GetFrameManager%924978286
      //        Returns the frame manager associated with this universe.
      FrameManager* GetFrameManager ();

      //## Operation: GetAllEntities%924978289
      //        provides access to all the entities in the universe
      const std::vector< Entity* >& GetAllEntities () const;

      //## Operation: GetAllLinks%924978292
      //        provides access to all the entities in the universe
      const std::vector< LinkBase* > GetAllLinks () const;

      //## Operation: SetConfiguration%926014533
      void SetConfiguration (const Configuration& configuration);

      //## Operation: Empty%927844451
      void Empty ();

      //## Operation: JointMax%928263339
      virtual double JointMax (const unsigned int jointNum) const;

      //## Operation: JointMin%928263340
      virtual double JointMin (const unsigned int jointNum) const;

      //## Operation: DOF%928263341
      virtual unsigned int DOF () const;

      //## Operation: JointWraps%928263342
      virtual bool JointWraps (const unsigned int jointNum) const;

      //## Operation: GetConfiguration%940357560
      Configuration GetConfiguration () const;

      //## Operation: GetEntity%961125356
      const Entity* GetEntity (const char* name) const;

      //## Operation: Clone%961125360
      //        this virtual function provides a copy of the object
      virtual CollisionDetectorBase* Clone () const;

    // Additional Public Declarations
      //## begin Universe%36FB1455010E.public preserve=yes
      //## end Universe%36FB1455010E.public

  protected:

    //## Other Operations (specified)
      //## Operation: TotalPolys%961125357
      int TotalPolys () const;

    // Data Members for Associations

      //## Association: Universe::<unnamed>%37195D99001E
      //## Role: Universe::entities%37195D990280
      //## begin Universe::entities%37195D990280.role preserve=no  protected: Entity { -> 0..nRFHAN}
      std::vector<Entity*> entities;
      //## end Universe::entities%37195D990280.role

      //## Association: Universe::<unnamed>%371E857F03D4
      //## Role: Universe::links%371E85820154
      //## begin Universe::links%371E85820154.role preserve=no  protected: LinkBase { -> 0..nRFHAN}
      std::vector<LinkBase*> links;
      //## end Universe::links%371E85820154.role

      FrameManager theFrameManager;
   
      int totalPolys ;
   private:
  private: //## implementation
};

std::ostream & operator<<( std::ostream &os, const Universe& v ) ;
IfstreamWithComments & operator>>( IfstreamWithComments &is, Universe& v ) ;

#endif

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