basic/robots/RobotBase.h

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#ifndef RobotBase_h
#define RobotBase_h 1

#include <list>
//#include < additional/streams/IfstreamWithComments.h>

#include "Universe\Entity.h"

class LinkBase;

class RobotBase : public Entity  //## Inherits: <unnamed>%37195CE40258
{

  public:
      RobotBase (FrameManager* frameManager);

      RobotBase (const RobotBase& right);

      virtual ~RobotBase();


      //        returns the number of degrees of freedom in a robot
      virtual unsigned int DOF () const = 0;

      //        this operation allocates memory for a copy of this
      //        object, and returns a pointer to this new instantiation.
      virtual Entity* Clone () const = 0;


      //        Returns a list of pointers to all the links that compose
      //        the robot.
      virtual std::list< LinkBase*> GetAllLinks() const = 0;
      virtual LinkBase* GetLink( const unsigned int i ) = 0;

          virtual std::list< int > GetAllToolFrames() const = 0;

          static RobotBase* DeserializeAbstract (IfstreamWithComments& is, FrameManager* frameManager);
          virtual bool Deserialize( IfstreamWithComments& is ) ;

};
#endif

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