jointaction.h

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#ifndef VART_JOINTACTION_H
#define VART_JOINTACTION_H

#include "vart/baseaction.h"
#include "vart/joint.h"
#include <list>

namespace VART {
    class DofMover;
    class JointMover;
    class Joint;
    class Interpolator;
    class DMModifier;
    class JointAction : public BaseAction {
        friend std::ostream& operator<<(std::ostream& output, const JointAction& action);
        public:
            JointAction();
            virtual ~JointAction() { }

            JointMover* AddJointMover(Joint* jointPtr,
                                      float newDuration,
                                      const Interpolator& interpolator);

            JointMover* AddJointMover(Joint* jointPtr, JointMover* jointMover);

            void SetPriority(unsigned int newPriority) { priority = newPriority; }

            void GetFinalTimes(std::list<float>* resultPtr);

            void ModifyDofMovers(DMModifier& mod);

            DofMover* SearchDofMover(Joint* jointPtr, Joint::DofID dof);

            void GetJoints(std::list<Joint*>* listPtr);

            virtual void Activate();
        protected:
        // PROTECTED NESTED CLASSES
            class Initializer : public BaseAction::Initializer
            {
                public:
                    Initializer();
                    virtual ~Initializer() {}
                    virtual void Initialize();
            };
        // PROTECTED METHODS
            virtual void Move();
            void DeactivateDofMovers();

            void AddToActiveInstancesList();
        // PROTECTED ATTRIBUTES
            std::list<JointMover*> jointMoverList;
            unsigned int priority;
        private:
    }; // end class declaration
} // end namespace

#endif