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SIG_SimulationQueries.h

00001 #ifndef SIGEL_SIMULATION_SIG_SIMULATIONQUERIES_H
00002 #define SIGEL_SIMULATION_SIG_SIMULATIONQUERIES_H
00003 
00004 #include "SIGEL_Simulation/SIG_Register.h"
00005 #include <qvector.h>
00006 #include <pointvector.h>
00007 #include <matrix.h>
00008 #include <qdatetime.h>
00009 
00010 namespace SIGEL_Simulation
00011 {
00012 
00024 class SIG_SimulationQueries { 
00025 
00026  public:
00027 
00037   SIG_SimulationQueries();
00038 
00040   virtual void sense(int sensorNo,QVector<SIG_Register> & registers) const = 0;
00041 
00050   virtual QTime getActualSimulationTime() const = 0;
00051 
00063   virtual DL_vector getLinkPosition(int linkNo) const = 0;
00064 
00076   virtual DL_matrix getLinkOrientation(int linkNo) const = 0;
00077 
00086   virtual int getRootNumber() const = 0;
00087 
00096   virtual double getUsedForces() const = 0;
00097 
00106   virtual int getLinkCount() const = 0;
00107 
00108   virtual void checkDynas() const = 0;
00109 };
00110 
00111 }
00112 
00113 #endif // SIGEL_SIMULATION_SIG_SIMULATIONQUERIES_H

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