00001 #ifndef SIGEL_SIMULATION_SIG_SIMULATIONQUERIES_H 00002 #define SIGEL_SIMULATION_SIG_SIMULATIONQUERIES_H 00003 00004 #include "SIGEL_Simulation/SIG_Register.h" 00005 #include <qvector.h> 00006 #include <pointvector.h> 00007 #include <matrix.h> 00008 #include <qdatetime.h> 00009 00010 namespace SIGEL_Simulation 00011 { 00012 00024 class SIG_SimulationQueries { 00025 00026 public: 00027 00037 SIG_SimulationQueries(); 00038 00040 virtual void sense(int sensorNo,QVector<SIG_Register> & registers) const = 0; 00041 00050 virtual QTime getActualSimulationTime() const = 0; 00051 00063 virtual DL_vector getLinkPosition(int linkNo) const = 0; 00064 00076 virtual DL_matrix getLinkOrientation(int linkNo) const = 0; 00077 00086 virtual int getRootNumber() const = 0; 00087 00096 virtual double getUsedForces() const = 0; 00097 00106 virtual int getLinkCount() const = 0; 00107 00108 virtual void checkDynas() const = 0; 00109 }; 00110 00111 } 00112 00113 #endif // SIGEL_SIMULATION_SIG_SIMULATIONQUERIES_H