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vpjoint.h

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00001 
00002 
00003 
00004 
00005 // ChangeLog is at the implementation file.
00006 
00007 #ifndef __VPJOINT_H
00008 #define __VPJOINT_H
00009 
00010 #ifndef __VPDOF_H
00011 class VPDof;
00012 #endif
00013 
00014 #include "vppoint4d.h"
00015 #include "vptransform.h"
00016 #include <list>
00017 #include <string>
00018 
00019 // FixMe: C constants should not be used
00020 #define MAXDOF 6
00035 class VPJoint : public VPTransform {
00036     public:
00038         VPJoint();
00039         virtual ~VPJoint();
00040         unsigned short int  GetNumDofs();
00041         void AddDof(VPDof *dof);
00042 
00044 
00047         void MakeLim();
00048 
00050 
00058         void TransformDofs(VPDof* intialDof, const VPTransform& trans);
00059 
00060     protected:
00061         std::list<VPDof*> dofList;
00062 };
00063 
00064 #endif

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