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/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Pete Vieira <pete.vieira@gatech.edu>
 * Date: Feb 2014
 *
 * Humanoid skeletonics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   * Neither the name of the Humanoid Robotics Lab nor the names of
 *     its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission
 *
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 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 */

#ifndef GRIP_TIMESLICE_H
#define GRIP_TIMESLICE_H

#include <dart/simulation/World.h>
#include <Eigen/Geometry>

class GripTimeslice
{
public:
    GripTimeslice();

    GripTimeslice(const dart::simulation::World &world);

    ~GripTimeslice();

    void setTime(double time);

    void setState(const Eigen::VectorXd &state);

    double getTime();

    const Eigen::VectorXd& getState();

protected:
    double _time; 
    Eigen::VectorXd _state; 

}; // end class GripTimeslice

#endif // GRIP_TIMESLICE_H