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SIG_RenderRecorder.cpp

00001 #include "SIGEL_Visualisation/SIG_RenderRecorder.h"
00002 
00003 namespace SIGEL_Visualisation
00004 {
00005 
00006   SIG_RenderRecorder::SIG_RenderRecorder(int noOfObjects)
00007     : SIGEL_Simulation::SIG_Recorder(),
00008                         robotLinks(noOfObjects),
00009                         simulationTime()
00010   {
00011     robotLinks.setAutoDelete(true);
00012 
00013     for (int i=0; i<noOfObjects; i++)
00014       robotLinks.insert(i, new SIG_SceneObject(i));
00015   };
00016 
00017   void SIG_RenderRecorder::init()
00018     throw (SIGEL_Simulation::SIG_RecorderNoQueriesSetException,
00019            SIGEL_Simulation::SIG_RecorderBadRecordingOrderException)
00020   {
00021     SIGEL_Simulation::SIG_Recorder::init();
00022     record();
00023   };
00024 
00025   void SIG_RenderRecorder::record()
00026         throw (SIGEL_Simulation::SIG_RecorderNoQueriesSetException,
00027                SIGEL_Simulation::SIG_RecorderBadRecordingOrderException)
00028   {
00029     SIGEL_Simulation::SIG_Recorder::record();
00030 
00031     for (int i=0; i<robotLinks.size(); i++)
00032       {
00033         robotLinks[i]->position = simulationQueries->getLinkPosition(i);
00034         robotLinks[i]->rotation = simulationQueries->getLinkOrientation(i);
00035       };
00036 
00037     simulationTime = simulationQueries->getActualSimulationTime();
00038   };
00039 
00040   void SIG_RenderRecorder::finish()
00041     throw (SIGEL_Simulation::SIG_RecorderNoQueriesSetException,
00042            SIGEL_Simulation::SIG_RecorderBadRecordingOrderException)
00043   {
00044     SIGEL_Simulation::SIG_Recorder::finish();
00045   };
00046 
00047 }

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