experiments/icubsimulator/include/icubsimulator.h

00001 /********************************************************************************
00002  *  FARSA Experiments Library                                                   *
00003  *  Copyright (C) 2007-2012                                                     *
00004  *  Gianluca Massera <emmegian@yahoo.it>                                        *
00005  *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
00006  *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
00007  *                                                                              *
00008  *  This program is free software; you can redistribute it and/or modify        *
00009  *  it under the terms of the GNU General Public License as published by        *
00010  *  the Free Software Foundation; either version 2 of the License, or           *
00011  *  (at your option) any later version.                                         *
00012  *                                                                              *
00013  *  This program is distributed in the hope that it will be useful,             *
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
00016  *  GNU General Public License for more details.                                *
00017  *                                                                              *
00018  *  You should have received a copy of the GNU General Public License           *
00019  *  along with this program; if not, write to the Free Software                 *
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
00021  ********************************************************************************/
00022 
00023 #ifdef FARSA_USE_YARP_AND_ICUB
00024 
00025 #ifndef ICUBSIMULATOR_H
00026 #define ICUBSIMULATOR_H
00027 
00028 #include "component.h"
00029 #include "world.h"
00030 #include "phyicub.h"
00031 
00032 namespace farsa {
00033 
00040 class FARSA_EXPERIMENTS_API iCubSimulator : public Component {
00041     Q_OBJECT
00042 public:
00044     iCubSimulator();
00046     ~iCubSimulator();
00048     virtual ComponentUI* getUIManager();
00050     virtual void configure(farsa::ConfigurationParameters& params, QString prefix);
00052     virtual void save(farsa::ConfigurationParameters& params, QString prefix);
00054     virtual void postConfigureInitialization();
00056     static void describe( QString type );
00058     farsa::World* getWorld() const {
00059         return world;
00060     };
00062     farsa::PhyiCub* getICub() const {
00063         return icub;
00064     };
00065 public slots:
00067     void start();
00069     void suspend();
00071     void step();
00072 private:
00073     farsa::World* world;
00074     farsa::PhyiCub* icub;
00075 };
00076 
00077 } // end namespace farsa
00078 
00079 #endif
00080 
00081 #endif // FARSA_USE_YARP_AND_ICUB