iCub-main
SimulationBundle.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
5 * Author: Paul Fitzpatrick, Vadim Tikhanoff
6 * email: paulfitz@alum.mit.edu, vadim.tikhanoff@iit.it
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19 */
20 
21 
22 #ifndef ICUBSIMULATION_SIMULATIONBUNDLE_INC
23 #define ICUBSIMULATION_SIMULATIONBUNDLE_INC
24 
25 #include "Simulation.h"
26 #include "LogicalJoints.h"
27 #include "WorldManager.h"
28 
30 public:
31  virtual bool onBegin() = 0;
32 
33  virtual LogicalJoints *createJoints(RobotConfig& config) = 0;
34 
36 
37  virtual Simulation *createSimulation(RobotConfig& config) = 0;
38 
39  virtual bool onEnd() = 0;
40 
41  //bool verbose;
42  int verbosity;
43 };
44 
45 #endif
Route control for the robots controlled joints to their implementation.
Definition: LogicalJoints.h:31
virtual LogicalJoints * createJoints(RobotConfig &config)=0
virtual WorldManager * createWorldManager(RobotConfig &config)=0
virtual bool onEnd()=0
virtual Simulation * createSimulation(RobotConfig &config)=0
virtual bool onBegin()=0