icubsimulator.h

/********************************************************************************
 *  FARSA Experiments Library                                                   *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  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.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifdef FARSA_USE_YARP_AND_ICUB

#ifndef ICUBSIMULATOR_H
#define ICUBSIMULATOR_H

#include "component.h"
#include "world.h"
#include "phyicub.h"

namespace farsa {

class FARSA_EXPERIMENTS_API iCubSimulator : public Component {
    Q_OBJECT
public:
    iCubSimulator();
    ~iCubSimulator();
    virtual ParameterSettableUI* getUIManager();
    virtual void configure(farsa::ConfigurationParameters& params, QString prefix);
    virtual void save(farsa::ConfigurationParameters& params, QString prefix);
    virtual void postConfigureInitialization();
    static void describe( QString type );
    farsa::World* getWorld() const {
        return world;
    };
    farsa::PhyiCub* getICub() const {
        return icub;
    };
public slots:
    void start();
    void suspend();
    void step();
private:
    farsa::World* world;
    farsa::PhyiCub* icub;
};

} // end namespace farsa

#endif

#endif // FARSA_USE_YARP_AND_ICUB