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SIG_DynaMechsSimulationQueries.h

00001 #ifndef SIGEL_SIMULATION_SIG_DYNAMECHSSIMULATIONQUERIES_H
00002 #define SIGEL_SIMULATION_SIG_DYNAMECHSSIMULATIONQUERIES_H
00003 
00004 #include "SIGEL_Simulation/SIG_DynaMechsSimulationData.h"
00005 #include "SIGEL_Simulation/SIG_Register.h"
00006 #include "SIGEL_Simulation/SIG_SimulationQueries.h"
00007 #include <qvector.h>
00008 #include <qdatetime.h>
00009 
00010 namespace SIGEL_Simulation
00011 {
00012 
00024   class SIG_DynaMechsSimulationQueries : public SIG_SimulationQueries
00025   {
00026  private:
00027 
00030   SIG_DynaMechsSimulationData& simulationData;
00031 
00032  public:
00033 
00043   SIG_DynaMechsSimulationQueries(SIG_DynaMechsSimulationData& 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 
00117 }
00118 
00119 #endif // SIGEL_SIMULATION_SIG_DYNAMECHSSIMULATIONQUERIES_H

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