odeconfig.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.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.             *
 *                                                                         *
 *   $Log: odeconfig.h,v $
 *   Revision 1.20  2009/08/10 14:48:34  der
 *   calcDrawInterval gets a double
 *
 *   Revision 1.19  2009/08/05 16:13:06  martius
 *   added framerate to adjust
 *
 *   Revision 1.18  2008/04/23 07:17:16  martius
 *   makefiles cleaned
 *   new also true realtime factor displayed,
 *    warning if out of sync
 *   drawinterval in full speed is 10 frames, independent of the speed
 *
 *   Revision 1.17  2007/07/30 14:13:17  martius
 *   drawBoundings moved to osgHandle
 *
 *   Revision 1.16  2007/06/08 15:37:22  martius
 *   random seed into OdeConfig -> logfiles
 *
 *   Revision 1.15  2007/01/25 14:09:50  martius
 *   use new configurable addParameter feature
 *
 *   Revision 1.14  2006/08/04 15:07:46  martius
 *   documentation
 *
 *   Revision 1.13  2006/07/14 11:57:23  martius
 *   selforg becomes HEAD
 *
 *   Revision 1.12.4.8  2006/06/29 16:32:44  robot3
 *   implementation of odeconfig moved to odeconfig.cpp
 *
 *   Revision 1.12.4.7  2006/05/08 12:12:36  robot3
 *   changes from Revision 1.40.4.27 reverted
 *
 *   Revision 1.12.4.6  2006/04/27 16:17:38  robot3
 *   implemented some functions for motionblurcallback
 *
 *   Revision 1.12.4.5  2006/03/28 09:55:12  robot3
 *   -main: fixed snake explosion bug
 *   -odeconfig.h: inserted cameraspeed
 *   -camermanipulator.cpp: fixed setbyMatrix,
 *    updateFactor
 *
 *   Revision 1.12.4.4  2006/02/08 16:14:28  martius
 *   no namespace using
 *
 *   Revision 1.12.4.3  2006/01/10 15:08:15  martius
 *   controlinterval is 1 by default
 *
 *   Revision 1.12.4.2  2005/12/06 10:13:23  martius
 *   openscenegraph integration started
 *
 *   Revision 1.12.4.1  2005/11/14 17:37:00  martius
 *   changed makefile structure to have and include directory
 *   mode to selforg
 *
 *   Revision 1.12  2005/11/09 13:29:19  martius
 *   GPL'ised
 *
 ***************************************************************************/
#ifndef __ODECONFIG_H
#define __ODECONFIG_H

#include <selforg/configurable.h>
#include "odehandle.h"

namespace lpzrobots {

  /**
     The class $name holds the configurable parameters of the simulation environment.
  */
  class OdeConfig : public Configurable {
  public:
    
    // creates new instance of OdeConfig with default values
    OdeConfig();
    
    virtual ~OdeConfig() {}
        
    virtual paramlist getParamList() const;

    virtual paramval getParam(const paramkey& key) const;
        
    virtual bool setParam(const paramkey& key, paramval val);

    virtual void setOdeHandle(const OdeHandle& odeHandle);

    virtual void setVideoRecordingMode(bool mode);

    virtual void calcAndSetDrawInterval(double Hz, double rtf);

  private:
    /// calculates the draw interval with simStepSize and realTimeFactor so that we have the Hz frames/sec
    int calcDrawInterval(double Hz, double rtf);

  public:
    bool videoRecordingMode;
    double simStepSize;
    double motionPersistence;
    int drawInterval;
    int controlInterval;
    double noise;
    double gravity;
    double cameraSpeed;
    long randomSeed;
    OdeHandle odeHandle;

    double realTimeFactor;
    double fps;
  };

}

#endif

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