rccarview.h

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#ifndef GCOP_RCCARVIEW_H
#define GCOP_RCCARVIEW_H

#include "rccar.h"
#include "systemview.h"

namespace gcop {
  using namespace Eigen;

  class RccarView : public SystemView<Vector4d, Vector2d> {
  public:

    RccarView(const Rccar &sys,
              vector<Vector4d> *xs = 0,
              vector<Vector2d> *us = 0);

    virtual ~RccarView();
       

    void Render(const Vector4d *x, const Vector2d *u = 0);
    
    void Render(const vector<Vector4d> *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 Rccar &sys;
    GLUquadricObj *qobj;
  };
}

#endif