qrotorview.h

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#ifndef GCOP_QROTORVIEW_H
#define GCOP_QROTORVIEW_H

#include "qrotor.h"
#include "body3dview.h"
#include "GL/glut.h"
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include <iostream>
//#include "viewer.h"
#include "so3.h"


namespace gcop {
  
  using namespace Eigen;
  
  class QrotorView : public Body3dView<4> {
  public:

  QrotorView(const Qrotor &sys,
             vector<pair<Matrix3d, Vector9d> > *xs = 0,
             vector<Vector4d> *us = 0);
  
  //  virtual ~QrotorView();  
  
  void Render(const pair<Matrix3d, Vector9d> *x,
              const Vector4d *u = 0);

  const Qrotor &sys;
  };
}
#endif