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SIG_DynaMoSimulationQueries.h

00001 #ifndef SIGEL_SIMULATION_SIG_DYNAMOSIMULATIONQUERIES_H
00002 #define SIGEL_SIMULATION_SIG_DYNAMOSIMULATIONQUERIES_H
00003 
00004 #include "SIGEL_Simulation/SIG_Register.h"
00005 #include <qvector.h>
00006 #include <qdatetime.h>
00007 #include "SIGEL_Simulation/SIG_DynaMoSimulationData.h"
00008 #include "SIGEL_Simulation/SIG_SimulationQueries.h"
00009 
00010 namespace SIGEL_Simulation
00011 {
00012 
00024   class SIG_DynaMoSimulationQueries : public SIG_SimulationQueries
00025     { 
00026  private:
00027 
00030   SIG_DynaMoSimulationData& simulationData;
00031 
00032  public:
00033 
00043   SIG_DynaMoSimulationQueries(SIG_DynaMoSimulationData& theSimulationData);
00044 
00046   void sense(int sensorNo,QVector<SIG_Register> & registers) const;
00047 
00056   QTime getActualSimulationTime() const;
00057 
00069   DL_vector getLinkPosition(int linkNo) const;
00070 
00082   DL_matrix getLinkOrientation(int linkNo) const;
00083 
00092   int getRootNumber() const;
00093 
00102   double getUsedForces() const;
00103 
00112   int getLinkCount() const;
00113   
00114   void checkDynas() const;
00115 
00116 #ifdef SIG_DEBUG    
00117 
00119   void printDynaDatas() const;
00120   int getGPTestValue() const;
00121 #endif
00122 
00123 };
00124 
00125 }
00126 
00127 #endif // SIGEL_SIMULATION_SIG_DYNAMOSIMULATIONQUERIES_H

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