iCub-main
icub-main
src
simulators
iCubSimulation
wrapper
SimulationBundle.h
Go to the documentation of this file.
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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
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/*
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* Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
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* Author: Paul Fitzpatrick, Vadim Tikhanoff
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* email: paulfitz@alum.mit.edu, vadim.tikhanoff@iit.it
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* website: www.robotcub.org
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* Permission is granted to copy, distribute, and/or modify this program
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* under the terms of the GNU General Public License, version 2 or any
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* later version published by the Free Software Foundation.
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*
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* A copy of the license can be found at
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* http://www.robotcub.org/icub/license/gpl.txt
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details
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*/
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#ifndef ICUBSIMULATION_SIMULATIONBUNDLE_INC
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#define ICUBSIMULATION_SIMULATIONBUNDLE_INC
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#include "
Simulation.h
"
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#include "
LogicalJoints.h
"
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#include "
WorldManager.h
"
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class
SimulationBundle
{
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public
:
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virtual
bool
onBegin
() = 0;
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virtual
LogicalJoints
*
createJoints
(
RobotConfig
& config) = 0;
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virtual
WorldManager
*
createWorldManager
(
RobotConfig
& config) = 0;
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virtual
Simulation
*
createSimulation
(
RobotConfig
& config) = 0;
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virtual
bool
onEnd
() = 0;
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//bool verbose;
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int
verbosity
;
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};
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#endif
SimulationBundle::createSimulation
virtual Simulation * createSimulation(RobotConfig &config)=0
Simulation.h
RobotConfig
Definition:
RobotConfig.h:55
SimulationBundle::createJoints
virtual LogicalJoints * createJoints(RobotConfig &config)=0
WorldManager
Definition:
WorldManager.h:28
SimulationBundle
Definition:
SimulationBundle.h:29
WorldManager.h
LogicalJoints.h
SimulationBundle::verbosity
int verbosity
Definition:
SimulationBundle.h:42
Simulation
Definition:
Simulation.h:28
SimulationBundle::onBegin
virtual bool onBegin()=0
LogicalJoints
Route control for the robots controlled joints to their implementation.
Definition:
LogicalJoints.h:31
SimulationBundle::createWorldManager
virtual WorldManager * createWorldManager(RobotConfig &config)=0
SimulationBundle::onEnd
virtual bool onEnd()=0
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