jointmover.h

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#ifndef VART_JOINTMOVER_H
#define VART_JOINTMOVER_H

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

namespace VART {
    class DofMover;
    class NoisyDofMover;
    class Interpolator;
    class DMModifier;

    class JointMover {
        friend std::ostream& operator<<(std::ostream& output, const JointMover& mover);
        public:
        // PUBLIC METHODS
            JointMover();
            JointMover(Joint* newJointPtr, float newDuration, const Interpolator& interpolator);
            ~JointMover();

            void Move();

            void AttachToJoint(Joint* newJointPtr) { jointPtr = newJointPtr; }

            const VART::Joint* GetAttachedJoint() const { return jointPtr; }

            void AddDofMover(Joint::DofID dof, float iniTime, float finTime, float finPos);

            NoisyDofMover* AddNoisyDofMover(Joint::DofID dof, float iniTime, float finTime, float finPos);

            DofMover* GetDofMover(Joint::DofID dof);

            void SetDuration(float newDuration) { duration = newDuration; }

            float GetDuration() { return duration; }

            void SetInterpolator(const Interpolator& interp) { interpolatorPtr = &interp; }

            const Interpolator* GetInterpolator() { return interpolatorPtr; }

            void DeactivateDofMovers();

            void MultiplyTimes(float value);

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

            void CopyFrom( VART::JointMover& jointMover, VART::Joint* targetJoint );

            void ModifyDofMovers(DMModifier& modifier);

        // PUBLIC STATIC ATTRIBUTES
            //static bool cycle;
            static float goalTime;
            //static unsigned int priority;
        protected:
        // PROTECTED ATTRIBUTES
            Joint* jointPtr;
            float duration;
            float minimumDuration;
            const Interpolator* interpolatorPtr;
            std::list<DofMover*> dofMoverList;
    }; // end class declaration
} // end namespace

#endif