second good build. Joints

MbDCode/MarkerFrame.cpp

@@ -1,3 +1,4 @@
+#include "PartFrame.h"
 #include "MarkerFrame.h"
 #include "EndFramec.h"
 #include "EndFrameqc.h"
@@ -5,11 +6,19 @@
 using namespace MbD;
 
 MarkerFrame::MarkerFrame()
+{
+	initialize();
+}
+
+MbD::MarkerFrame::MarkerFrame(const char* str) : CartesianFrame(str) {
+	initialize();
+}
+
+void MbD::MarkerFrame::initialize()
 {
 	partFrame = nullptr;
-	auto endFrm = std::make_shared<EndFrameqc>();
-	std::string str = "EndFrame1";
-	endFrm->setName(str);
+	endFrames = std::make_unique<std::vector<std::shared_ptr<EndFramec>>>();
+	auto endFrm = std::make_shared<EndFrameqc>("EndFrame1");
 	this->addEndFrame(endFrm);
 }
 
@@ -18,6 +27,10 @@ void MarkerFrame::setPartFrame(PartFrame* partFrm)
 	partFrame = partFrm;
 }
 
+PartFrame* MarkerFrame::getPartFrame() {
+	return partFrame;
+}
+
 void MarkerFrame::setrpmp(FullColDptr x)
 {
 	rpmp->copy(x);
@@ -30,5 +43,5 @@ void MarkerFrame::setaApm(FullMatDptr x)
 void MarkerFrame::addEndFrame(std::shared_ptr<EndFramec> endFrm)
 {
 	endFrm->setMarkerFrame(this);
-	endFrames.push_back(endFrm);
+	endFrames->push_back(endFrm);
 }