dofmover.h

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#ifndef VART_DOFMOVER_H
#define VART_DOFMOVER_H

#include <iostream>
#include <list>

namespace VART {
    class Dof;
    class Interpolator;
    class JointMover;

    class DofMover {
        friend class JointMover;
        friend class Action;
        friend class JointAction;
        friend std::ostream& operator<<(std::ostream& output, const DofMover& mover);
        public:
            const Dof* GetTarget() { return targetDofPtr; }
        protected:
        // PROTECTED METHODS
            DofMover();
            DofMover(const VART::DofMover& dofMover);
            virtual ~DofMover() {}
            virtual void Initialize(float iniTime, float finTime, float finPos);
            void SetDof(Dof* dofPtr) { targetDofPtr = dofPtr; }
            virtual void Move();
            void GetFinalTime(std::list<float>* resultPtr);
        // PROTECTED ATTRIBUTES
            float targetPosition;
            float initialPosition;
            float initialTime;
            float activationTime;
            float finalTime;
            float positionRange;
            float timeRange;
            Dof* targetDofPtr;
            bool active;
        //  STATIC PROTECTED ATTRIBUTES
            static float goalTime;
            static bool cycle;
            static const Interpolator* interpolatorPtr;
            static unsigned int priority;
            static float minimumDuration;
    }; // end class declaration
} // end namespace

#endif