tutorials/tutsim.hpp

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/*
 * Copyright (C) 2011 The Board of Trustees of The Leland Stanford Junior University. All rights reserved.
 *
 * Author: Roland Philippsen
 *         http://cs.stanford.edu/group/manips/
 *
 * This program is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this program.  If not, see
 * <http://www.gnu.org/licenses/>
 */

#ifndef WBC_TUTORIAL_SIMULATOR_HPP
#define WBC_TUTORIAL_SIMULATOR_HPP

// The CMake setup "should" set the TUTROB_XML_PATH_STR
// correctly. Otherwise, fall back to a default that will produce
// sensible error messages in case we fail to find the file.

#ifndef TUTROB_XML_PATH_STR
#define TUTROB_XML_PATH_STR "tutrob.xml"
#endif // TUTROB_XML_PATH_STR

#include <jspace/Model.hpp>

struct tutsim {
  
  static void set_robot_filename(char const * robot_filename);
  
  static void set_rates(double gfx_rate_hz,
      double servo_rate_hz,
      double sim_rate_hz);
  
  static void set_window_params(int width, int height, char const * title);
  
  static void draw_robot(jspace::Vector const & jpos, int width,
       unsigned char red, unsigned char green, unsigned char blue,
       double x0, double y0, double scale);
  
  static void draw_delta_jpos(jspace::Vector const & jpos, int width,
            unsigned char red, unsigned char green, unsigned char blue,
            double x0, double y0, double scale);
  
  static void set_draw_cb(void (*draw_cb)(double x0, double y0, double scale));
  
  static int run(bool (*servo_cb)(size_t toggle_count,
          double wall_time_ms,
          double sim_time_ms,
          jspace::State & state,
          jspace::Vector & command));
  
};

#endif // WBC_TUTORIAL_SIMULATOR_HPP

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