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abstractMarker.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef ABSTRACTMARKER_H_
20 #define ABSTRACTMARKER_H_
21 
29 #include "LinearMath/btVector3.h"
30 #include "BulletDynamics/Dynamics/btRigidBody.h"
31 #include "tgSubject.h"
32 
33 
40 class abstractMarker : public tgSubject<abstractMarker>
41 {
42 public:
45  abstractMarker(const btRigidBody *body,btVector3 pos,btVector3 color, int nodeNumber);
47  btVector3 getWorldPosition() const;
49  btVector3 getRelativePosition() const;
50 
51  const btVector3& getColor() const {
52  return color;
53  }
54 
55  int getNodeNumber() const {
56  return nodeNumber;
57  }
58 
59 private:
60  btVector3 color;
61  const btRigidBody *attachedBody;
62  //Relative position to the body when it is first constructed
63  btVector3 attachedRelativeOriginalPosition;
64  int nodeNumber;
65 };
66 
67 #endif /* ABSTRACTMARKER_H_ */
Definition of tgSubject class.
btVector3 getRelativePosition() const
btVector3 getWorldPosition() const