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SIG_Simulation.h

00001 #ifndef SIGEL_SIMULATION_SIG_SIMULATION_H
00002 #define SIGEL_SIMULATION_SIG_SIMULATION_H
00003 
00004 #include "SIGEL_Simulation/SIG_Recorder.h"
00005 #include "SIGEL_Simulation/SIG_CommandInterface.h"
00006 #include "SIGEL_Simulation/SIG_SimulationData.h"
00007 #include "SIGEL_Simulation/SIG_SimulationQueries.h"
00008 #include "SIGEL_Simulation/SIG_Interpreter.h"
00009 #include "SIGEL_Robot/SIG_Robot.h"
00010 #include "SIGEL_Program/SIG_Program.h"
00011 #include "SIGEL_Environment/SIG_Environment.h"
00012 #include "SIGEL_Simulation/SIG_SimulationCannotSolveException.h"
00013 #include <qstring.h>
00014 
00023 namespace SIGEL_Simulation
00024 {
00025   
00036   class SIG_Simulation : public QObject
00037     { 
00038       Q_OBJECT
00039     public:
00052       SIG_Simulation( SIGEL_Robot::SIG_Robot const & robot,
00053                       SIGEL_Environment::SIG_Environment const & environment,
00054                       SIGEL_Program::SIG_Program const & robotProgram,
00055                       SIG_SimulationParameters const & simulationParameter,
00056                       SIG_Recorder & theRecorder);
00057       
00070       void start()
00071         throw(SIGEL_Simulation::SIG_SimulationCannotSolveException);
00072       
00085       void makeTimeSteps( int numTimeSteps )
00086         throw(SIGEL_Simulation::SIG_SimulationCannotSolveException);
00087 
00088     public slots: 
00092       void slotDynamoMessage(QString theMessage);
00093 
00094     private:
00098       bool stopSimulation;
00099 
00106       SIG_Recorder & recorder;
00107 
00111       SIG_CommandInterface *commandInterface;
00112 
00119       SIG_SimulationData *simulationData;
00120 
00124       SIG_SimulationQueries *simulationQueries;
00125 
00129       SIG_Interpreter *interpreter;
00130     };
00131   
00132 }
00133 
00134 #endif // SIGEL_SIMULATION_SIG_SIMULATION_H

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