PySimulator.h
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00001 #ifndef __PYSIMULATOR_H__
00002 #define __PYSIMULATOR_H__
00003 
00004 #include "hrpsys/util/SDLUtil.h"
00005 #include "Simulator.h"
00006 #include "GLscene.h"
00007 
00008 class PyBody;
00009 
00010 class PySimulator : public Simulator
00011 {
00012 public:
00013     PySimulator();
00014     PySimulator(PyObject *pyo);
00015     ~PySimulator();
00016     void initRTCmanager();
00017     void initRTCmanager(PyObject *pyo);
00018     void initRTCmanager(int argc, char **argv);
00019     void initViewer();
00020     PyBody* loadBody(std::string name, std::string url);
00021     PyBody* createBody(std::string name);
00022     bool loadProject(std::string fname);
00023     void simulate();
00024     void simulate(double time);
00025     void start(double time);
00026     void endless(bool flag);
00027     void clear();
00028     void play();
00029     void pause();
00030     void notifyChanged();
00031     void addCollisionCheckPair(PyBody *b1, PyBody *b2);
00032     void capture(std::string);
00033     unsigned int logLength();
00034     PyObject *bodies();
00035     PyBody *getBody(std::string name);
00036     bool showSensors();
00037     void setShowSensors(bool flag);
00038     void reset();
00039     void setUseBBox(bool flag);
00040     void setWindowSize(int s);
00041     void setMaxLogLength(double len);
00042     double maxLogLength();
00043 private:  
00044     LogManager<SceneState> log;
00045     GLscene scene;
00046     SDLwindow window;
00047     RTC::Manager* manager;
00048     bool useBBox;
00049     double maxLogLen;
00050 };
00051 
00052 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55