shortcircuit.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 ***************************************************************************/
#ifndef __SHORTCIRCUIT_H
#define __SHORTCIRCUIT_H


#include "oderobot.h"
#include "primitive.h"

namespace lpzrobots {

  /**
   *
   */
  class ShortCircuit : public OdeRobot{
  public:
    ShortCircuit(const OdeHandle& odeHandle, const OsgHandle& osgHandle, int sensornumber, int motornumber);

    virtual ~ShortCircuit();



    /** sets the pose of the vehicle
        @param pose desired 4x4 pose matrix
    */
    virtual void placeIntern(const osg::Matrix& pose) {}

    /** returns actual sensorvalues
        @param sensors sensors scaled to [-1,1]
        @param sensornumber length of the sensor array
        @return number of actually written sensors
    */
    virtual int getSensorsIntern(sensor* sensors, int sensornumber);

    /** sets actual motorcommands
        @param motors motors scaled to [-1,1]
        @param motornumber length of the motor array
    */
    virtual void setMotorsIntern(const double* motors, int motornumber);

    /** returns number of sensors
     */
    virtual int getSensorNumberIntern() {return sensorno; }

    /** returns number of motors
     */
    virtual int getMotorNumberIntern() {return motorno; }

    /** this function is called in each timestep. It should perform robot-internal checks,
        like space-internal collision detection, sensor resets/update etc.
        @param globalData structure that contains global data from the simulation environment
    */
    virtual void doInternalStuff(GlobalData& globalData) {}

  protected:
    /** the main object of the robot, which is used for position and speed tracking */
    virtual Primitive* getMainPrimitive() const { return dummy; }

  protected:
    DummyPrimitive *dummy;
    int sensorno;      //number of sensors
    int motorno;       // number of motors
    double* motors;
  } ;

}

#endif