/*
* Simbad - Robot Simulator
* Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
-----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/03/17 17:49:37 $
* $Revision: 1.3 $
* $Source: /cvsroot/simbad/src/simbad/sim/KinematicModel.java,v $
*/
package simbad.sim;
import java.text.DecimalFormat;
import javax.media.j3d.Transform3D;
import javax.vecmath.Vector3d;
/**
* This is the base class for all agent's kinematic.
* A Kinematic performs the translation and rotation of the agent under the control of specific parameter.
*
*/
public abstract class KinematicModel {
/** Compute instant translation and rotation vectors .
*
* @param elapsedSecond time elapsed
* @param rotation current rotation
* @param instantTranslation to store translation
* @param instantRotation to store rotation
*/
protected abstract void update(double elapsedSecond,Transform3D rotation,Vector3d instantTranslation,Vector3d instantRotation);
/** Resets all control parameters to their initial values. */
protected abstract void reset();
/** Returns string representation of the kinematicModel */
protected abstract String toString(DecimalFormat format);
}