text: /*
   * rigid_model.h
   *
   *  Created on: Oct 21, 2009
   *      Author: sturm
   */
  
  #ifndef RIGID_MODEL_H_
  #define RIGID_MODEL_H_
  
  #include "generic_model.h"
  
  namespace articulation_models {
  
  class RigidModel: public GenericModel {
  public:
  	tf::Vector3 rigid_position;
  	tf::Quaternion rigid_orientation;
  	double rigid_width,rigid_height;
  
  	RigidModel();
  
  	// -- params
  	void readParamsFromModel();
  	void writeParamsToModel();
  
  	size_t getDOFs() { return 0; }
  
  	geometry_msgs::Pose predictPose(V_Configuration q);
  	void projectConfigurationToChannels();
  
  	bool guessParameters();
  	void updateParameters(std::vector<double> delta);
  };
  
  }
  
  #endif /* RIGID_MODEL_H_ */
  