RobotInterface.h

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#pragma once

namespace AnimatSim
{
        namespace Robotics
        {

                class ANIMAT_PORT RobotInterface : public AnimatBase
                {
                protected:
                        CStdPtrArray<RobotIOControl> m_aryIOControls;

                        float m_fltPhysicsTimeStep;

                        bool m_bSynchSim;

                        virtual RobotIOControl *LoadIOControl(CStdXml &oXml);
                        virtual RobotIOControl *AddIOControl(std::string strXml);
                        virtual void RemoveIOControl(std::string strID, bool bThrowError = true);
                        virtual int FindChildListPos(std::string strID, bool bThrowError = true);

                public:
                        RobotInterface(void);
                        virtual ~RobotInterface(void);
                                                
                        static RobotInterface *CastToDerived(AnimatBase *lpBase) {return static_cast<RobotInterface*>(lpBase);}

                        virtual CStdPtrArray<RobotIOControl>* IOControls();

                        virtual float PhysicsTimeStep();
                        virtual void PhysicsTimeStep(float fltStep);

                        virtual bool SynchSim();
                        virtual void SynchSim(bool bVal);

                        virtual float *GetDataPointer(const std::string &strDataType);
                        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);
                        virtual bool AddItem(const std::string &strItemType, const std::string &strXml, bool bThrowError = true, bool bDoNotInit = false);
                        virtual bool RemoveItem(const std::string &strItemType, const std::string &strID, bool bThrowError = true);

                        virtual void Initialize();
                        virtual void StepSimulation();
                        virtual void ResetSimulation();
                        virtual void AfterResetSimulation();
                        virtual void Load(CStdXml &oXml);
                };

        }
}