/**
   @file
   @author Shin'ichiro NAKAOKA
*/

#ifndef CNOID_BODY_POSE_PROVIDER_H_INCLUDED
#define CNOID_BODY_POSE_PROVIDER_H_INCLUDED

#include "Body.h"
#include <vector>
#include <boost/optional.hpp>
#include <cnoid/EigenTypes>

namespace cnoid {

    class PoseProvider
    {
    public:
        virtual ~PoseProvider() { };
        virtual Body* body() const = 0;
        virtual double beginningTime() const = 0;
        virtual double endingTime() const = 0;
        virtual bool seek(double time) = 0;
        virtual bool seek(double time, int waistLinkIndex, const Vector3& waistTranslation) = 0;
        virtual int baseLinkIndex() const = 0;
        virtual bool getBaseLinkPosition(Vector3& out_p, Matrix3& out_R) const = 0;
        virtual void getJointPositions(std::vector< boost::optional<double> >& out_q) const = 0;
        virtual boost::optional<Vector3> zmp() const = 0;
    };
}

#endif