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robot/Manipulator

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/****************************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
        
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
        
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: Manipulator,v 1.5 2002/09/14 20:59:49 jungd Exp $
  $Revision: 1.5 $
  $Date: 2002/09/14 20:59:49 $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_MANIPULATOR_
#define _ROBOT_MANIPULATOR_

#include <robot/robot>

#include <base/Serializable>
#include <robot/RobotPart>


namespace robot {

/**
 * An abstract description of a manipulator
 */
class Manipulator : public RobotPart, public base::Serializable
{
public:

  enum Type { Serial, Parallel };

  virtual Type type() const = 0;

  /// the transformation from the base origin to the origin of the first joint(s)
  virtual Matrix4 getBaseTransform() const = 0;

protected:
  Manipulator() {}
  Manipulator(String name) : RobotPart(name) {}
  
};


} // robot

#endif

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