carview.h

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#ifndef GCOP_CARVIEW_H
#define GCOP_CARVIEW_H

#include "car.h"
#include "systemview.h"

namespace gcop {
  using namespace Eigen;

  class CarView : public SystemView<Vector5d, Vector2d> {
  public:

    CarView(const Car &sys,
            vector<Vector5d> *xs = 0,
            vector<Vector2d> *us = 0);

    virtual ~CarView();
       

    void Render(const Vector5d *x,
                const Vector2d *u = 0);
    
    void Render(const vector<Vector5d> *xs,
                const vector<Vector2d> *us = 0,
                bool rs = true,
                int is = -1, int ie = -1,
                int dis = 1, int dit = 1,
                bool dl = false);
    
    const Car &sys;
    GLUquadricObj *qobj;
  };
}

#endif