Robot Simulator of the Robotics Group for Self-Organization of Control: odeconfig.h Source File

# odeconfig.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __ODECONFIG_H
    00025 #define __ODECONFIG_H
    00026
    00027 #include <selforg/configurable.h>
    00028 #include "odehandle.h"
    00029
    00030 namespace lpzrobots {
    00031
    00032   /**
    00033      The class $name holds the configurable parameters of the simulation environment.
    00034   */
    00035   class OdeConfig : public Configurable {
    00036   public:
    00037
    00038     // creates new instance of OdeConfig with default values
    00039     OdeConfig();
    00040
    00041     virtual ~OdeConfig() {}
    00042
    00043     virtual long int getRandomSeed() const { return randomSeed; }
    00044
    00045     virtual void setRandomSeed(long int randomSeed){
    00046       this->randomSeed=randomSeed;
    00047       randomSeedCopy = randomSeed;
    00048     }
    00049
    00050     virtual void setOdeHandle(const OdeHandle& odeHandle);
    00051
    00052     virtual void setVideoRecordingMode(bool mode);
    00053
    00054     virtual void calcAndSetDrawInterval(double Hz, double rtf);
    00055
    00056     /******** CONFIGURABLE ***********/
    00057     virtual void notifyOnChange(const paramkey& key);
    00058
    00059
    00060   private:
    00061     /// calculates the draw interval with simStepSize and realTimeFactor so that we have the Hz frames/sec
    00062     int calcDrawInterval(double Hz, double rtf);
    00063
    00064   public:
    00065     bool videoRecordingMode;
    00066     double simStepSize;
    00067     double motionPersistence;
    00068     int drawInterval;
    00069     int controlInterval;
    00070     double noise;
    00071     double gravity;
    00072     double cameraSpeed;
    00073     OdeHandle odeHandle;
    00074
    00075     double realTimeFactor;
    00076     double fps;
    00077   protected:
    00078     long randomSeed;
    00079     double randomSeedCopy;
    00080   };
    00081
    00082 }
    00083
    00084 #endif