text: /*
   * FixedPointsForFeedForwardConnection.h
   *
   *  Created on: Oct 26, 2013
   *      Author: marium
   */
  
  #ifndef FIXEDPOINTSFORFEEDFORWARDCONNECTION_H_
  #define FIXEDPOINTSFORFEEDFORWARDCONNECTION_H_
  
  #define WINDOWS_DIMENSION 30
  
  #include "RigidBodyandTransformPair.h"
  #include "GlutStuff.h"
  #include "BulletDynamics/Dynamics/btDynamicsWorld.h"
  #include "btBulletDynamicsCommon.h"
  #include <vector>
  
  
  class FixedPointsForFeedForwardConnection {
  public:
  	FixedPointsForFeedForwardConnection();
  	//FixedPointsForFeedForwardConnection(double fixedJointPosition);
  	virtual ~FixedPointsForFeedForwardConnection();
  
  	void addJointPosition(btVector3 addJoint);
  
  	btBoxShape* addJoint(double fixedJointPosition);
  	RigidBodyandTransformPair getJointRigidBody();
  
  	double getFixedJointPosition(int iter);
  	void setFixedJointPosition(double fixedJointPosition);
  
  
  private:
  	double _fixedJointPosition;
  	std::vector<btVector3> fixedJointPoints; //Position of fixed points in feed-forward network
  
  	RigidBodyandTransformPair _rtPair;
  };
  
  #endif /* FIXEDPOINTSFORFEEDFORWARDCONNECTION_H_ */
  