22 #ifndef ICUBSIMULATION_ROBOTCONFIG_INC
23 #define ICUBSIMULATION_ROBOTCONFIG_INC
26 #include <yarp/os/ResourceFinder.h>
31 bool actElevation,
actStartHomePos ,
actLegs,
actTorso,
actLArm,
actRArm,
actLHand,
actRHand,
actHead,
actfixedHip,
actVision,
actHeadCover,
actWorld,
actPressure,
actScreen,
actLegsCovers,
actLeftArmCovers,
actRightArmCovers,
actTorsoCovers,
actSelfCol,
actCoversCol,
actSkinEmul;
double contactFrictionCoefficient
double maxContactCorrectingVel
double jointStopBouncyness
double contactSurfaceLayer
virtual double getMotorMaxTorque()=0
void stopConfig(std::string error)
virtual double getStopCFM()=0
virtual double getJointCFM()=0
virtual std::string getModuleName()=0
virtual double getMaxContactCorrectingVel()=0
virtual double getMotorDryFriction()=0
virtual double getJointStopBouncyness()=0
virtual yarp::os::ResourceFinder & getFinder()=0
virtual int getVerbosity()=0
virtual int getWorldTimestep()=0
virtual double getContactFrictionCoefficient()=0
virtual double getStopERP()=0
virtual double getWorldCFM()=0
virtual RobotFlags & getFlags()=0
virtual double getWorldERP()=0
virtual double getContactSurfaceLayer()=0
virtual OdeParams getOdeParameters()=0
virtual double getFudgeFactor()=0