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SIG_DynaMoSimulationData.cpp

00001 #include "SIGEL_Simulation/SIG_DynaMoSimulationData.h"
00002 
00003 SIGEL_Simulation::SIG_DynaMoSimulationData::SIG_DynaMoSimulationData( SIGEL_Robot::SIG_Robot const& robot,
00004                                                                       SIGEL_Environment::SIG_Environment const& environment,
00005                                                                       SIGEL_Simulation::SIG_SimulationParameters const& simulationParameter)
00006   : SIG_SimulationData( robot, environment, simulationParameter ),
00007     dynaSystem( environment, simulationParameter)
00008 {
00009   dynaSystem.floorMaterial=robot.lookupMaterial(environment.getFloorMaterialName());
00010   QDictIterator<SIGEL_Robot::SIG_Link> linkIt=robot.getLinkIter();
00011   while (linkIt.current()) 
00012   {
00013     dynaSystem.newLink( (*linkIt.current()) );    
00014     ++linkIt;
00015   };
00016   QDictIterator<SIGEL_Robot::SIG_Joint> jointIt=robot.getJointIter();
00017   while (jointIt.current()) 
00018   {
00019     dynaSystem.newJoint( (*jointIt.current()) );    
00020     ++jointIt;
00021   };
00022   QDictIterator<SIGEL_Robot::SIG_Sensor> sensorIt=robot.getSensorIter();
00023   while (sensorIt.current()) 
00024   {
00025     dynaSystem.newSensor( (*sensorIt.current()) );    
00026     ++sensorIt;
00027   };
00028   QDictIterator<SIGEL_Robot::SIG_Drive> driveIt=robot.getDriveIter();
00029   while (driveIt.current()) 
00030   {
00031     dynaSystem.newDrive( (*driveIt.current()) );    
00032     ++driveIt;
00033   };
00034 };
00035 
00036 void SIGEL_Simulation::SIG_DynaMoSimulationData::setNewFrame( bool newValue )
00037 {
00038   dynaSystem.newFrame = newValue;
00039 };
00040 
00041 void SIGEL_Simulation::SIG_DynaMoSimulationData::simulationProgress()
00042 {
00043   dynaSystem.doNewFrame();
00044 };

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