21 #ifndef ICUBSIMULATION_SIMULATION_INC
22 #define ICUBSIMULATION_SIMULATION_INC
26 #include <yarp/sig/Image.h>
51 virtual void drawView(
bool left,
bool right,
bool wide) = 0;
54 virtual bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& img) = 0;
virtual bool getTrqData(yarp::os::Bottle data)=0
virtual void clearBuffer()=0
Signal that we're done with a view.
virtual void drawView(bool left, bool right, bool wide)=0
Render the requested view.
virtual ~Simulation()
Destructor.
virtual void simLoop(int h, int w)=0
Run the simulation.
virtual void init(RobotStreamer *streamer, RobotConfig *config)=0
Initialization.
virtual bool checkSync(bool reset=false)=0
virtual bool getImage(yarp::sig::ImageOf< yarp::sig::PixelRgb > &img)=0