YarpOpenraveSimulation.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_OPENRAVE_SIMULATION_HPP__
#define __YARP_OPENRAVE_SIMULATION_HPP__
 
#include <yarp/dev/DeviceDriver.h>
 
#include <openrave/openrave.h>
 
#include "YarpOpenraveBase.hpp"
 
#include "../ISimulation.hpp"
 
namespace roboticslab
{
 
class YarpOpenraveSimulation : YarpOpenraveBase,
                               public yarp::dev::DeviceDriver,
                               public ISimulation
{
public:
    // ------- DeviceDriver declarations. Implementation in DeviceDriverImageImpl.cpp -------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // ------- ISimulation declarations. Implementation in ISimulationImpl.cpp -------
    bool step(double value) override;
    bool start(double value) override;
    bool stop() override;
    bool getSimulationRawPointerValue(yarp::os::Value& value) override;
};
 
} // namespace roboticslab
 
#endif // __YARP_OPENRAVE_SIMULATION_HPP__