mbsview.h

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#ifndef GCOP_MBSVIEW_H
#define GCOP_MBSVIEW_H

#include "mbs.h"
#include "systemview.h"
#include "GL/glut.h"
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include <iostream>
//#include "viewer.h"
#include "geom3dview.h"


namespace gcop {

#include "utils.h"

  using namespace Eigen;
  
  class MbsView : public SystemView<MbsState, VectorXd> {
  public:
    
    MbsView(const Mbs &sys,
            vector<MbsState> *xs = 0,
            vector<VectorXd> *us = 0);
    
    virtual ~MbsView();
    
    
    virtual void Render(const MbsState *x,
                        const VectorXd *u = 0);
    
    void Render(const vector<MbsState> *xs,
                const vector<VectorXd> *us = 0,
                bool rs = true,
                int is = -1, int ie = -1,
                int dis = 1, int dit = 1,
                bool dl = false);
    
    const Mbs &sys;
    GLUquadricObj *qobj;
    double dirSize;
    
    vector<Geom3dView*> geomViews;  
  };
}



#endif