Simulation.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/* 
* Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
* Author: Vadim Tikhanoff, Paul Fitzpatrick
* email:   vadim.tikhanoff@iit.it, paulfitz@alum.mit.edu
* website: www.robotcub.org
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
 
#ifndef ICUBSIMULATION_SIMULATION_INC
#define ICUBSIMULATION_SIMULATION_INC
 
#include "RobotStreamer.h"
#include "RobotConfig.h"
#include <yarp/sig/Image.h>
 
class Simulation {
public:
    virtual void init(RobotStreamer *streamer, RobotConfig *config) = 0;
 
    virtual ~Simulation() {}
 
    virtual void drawView(bool left, bool right, bool wide) = 0;
 
 
    virtual bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& img) = 0;
 
    virtual void clearBuffer() = 0;
 
    virtual void simLoop(int h,int w) = 0;
 
    virtual bool checkSync(bool reset = false) = 0;
 
    virtual bool getTrqData(yarp::os::Bottle data) = 0;
};
 
#endif