WBBlock.h

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/*
 * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * GNU Lesser General Public License v2.1 or any later version.
 */
 
#ifndef WBT_WBBLOCK_H
#define WBT_WBBLOCK_H
 
#include <BlockFactory/Core/Block.h>
#include <memory>
#include <string>
 
namespace blockfactory {
    namespace core {
        class BlockInformation;
        class Signal;
    } // namespace core
} // namespace blockfactory
 
namespace wbt {
    namespace base {
        class WBBlock;
        class RobotInterface;
        using InputSignalPtr = std::shared_ptr<const blockfactory::core::Signal>;
    } // namespace base
} // namespace wbt
 
namespace iDynTree {
    class KinDynComputations;
} // namespace iDynTree
 
class wbt::base::WBBlock : public blockfactory::core::Block
{
protected:
    // TODO: pImpl
    struct iDynTreeRobotState;
    std::unique_ptr<iDynTreeRobotState> m_robotState;
    std::string m_confBlockName;
    std::shared_ptr<wbt::base::RobotInterface> m_robotInterface;
 
    std::shared_ptr<iDynTree::KinDynComputations> getKinDynComputations() const;
 
    const std::shared_ptr<wbt::base::RobotInterface> getRobotInterface() const;
 
    bool setRobotState(wbt::base::InputSignalPtr basePose,
                       wbt::base::InputSignalPtr jointsPos,
                       wbt::base::InputSignalPtr baseVelocity,
                       wbt::base::InputSignalPtr jointsVelocity,
                       iDynTree::KinDynComputations* kinDyn);
 
public:
    static constexpr unsigned NumberOfParameters = Block::NumberOfParameters + 2;
 
    WBBlock();
    ~WBBlock() override;
    unsigned numberOfParameters() override;
    bool parseParameters(blockfactory::core::BlockInformation* blockInfo) override;
    bool configureSizeAndPorts(blockfactory::core::BlockInformation* blockInfo) override;
    bool initialize(blockfactory::core::BlockInformation* blockInfo) override;
};
 
#endif // WBT_WBBLOCK_H