Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

intern/itasc/UncontrolledObject.hpp

@@ -0,0 +1,37 @@
+/* $Id: UncontrolledObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $
+ * UncontrolledObject.h
+ *
+ *  Created on: Jan 5, 2009
+ *      Author: rubensmits
+ */
+
+#ifndef UNCONTROLLEDOBJECT_HPP_
+#define UNCONTROLLEDOBJECT_HPP_
+
+#include "eigen_types.hpp"
+
+#include "Object.hpp"
+namespace iTaSC{
+
+class UncontrolledObject: public Object {
+protected:
+	unsigned int m_nu, m_nf;
+	e_vector m_xudot;
+	std::vector<e_matrix> m_JuArray;
+
+public:
+    UncontrolledObject();
+    virtual ~UncontrolledObject();
+
+	virtual void initialize(unsigned int _nu, unsigned int _nf);
+	virtual const e_matrix& getJu(unsigned int frameIndex) const;
+    virtual const e_vector& getXudot() const {return m_xudot;}
+	virtual void updateCoordinates(const Timestamp& timestamp)=0;
+    virtual const unsigned int getNrOfCoordinates(){return m_nu;};
+    virtual const unsigned int getNrOfFrames(){return m_nf;};
+
+};
+
+}
+
+#endif /* UNCONTROLLEDOBJECT_H_ */