robot/sim/SimulatedRobotDescription

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/* **-*-c++-*-**************************************************************
  Copyright (C)2004 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 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 General Public License for more details. (http://www.gnu.org)
        
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

  $Id: SimulatedRobotDescription 1033 2004-02-11 20:47:52Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:47:52 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_SIMULATEDROBOTDESCRIPTION_
#define _ROBOT_SIMULATEDROBOTDESCRIPTION_

#include <robot/robot>

#include <base/array>

#include <robot/RobotDescription>
#include <robot/sim/SimulatedManipulatorDescription>


namespace robot {
namespace sim {
  
/**
 * An description of a Robot specific to simulations
 * (includes information relevant to a simulation, such as the visual appearance,
 *  geometry etc. of the robot)
 */
class SimulatedRobotDescription : public RobotDescription
{
public:
  SimulatedRobotDescription() {}
  SimulatedRobotDescription(String name, ref<const PlatformDescription> platformDescription, 
                   array<ref<const ManipulatorDescription> > manipulatorDescriptions, 
                   array<Vector3> manipulatorOffsets)
      : RobotDescription(name, platformDescription, manipulatorDescriptions, manipulatorOffsets)
    {}

  SimulatedRobotDescription(const RobotDescription& r) 
      : RobotDescription(r)
    {}

  SimulatedRobotDescription(const SimulatedRobotDescription& r) 
      : RobotDescription(r)
    {}

  virtual String className() const { return String("SimulatedRobotDescription"); }

  
  // factory
  virtual ref<PlatformDescription>    newPlatformDescription() const { return ref<PlatformDescription>(NewObj PlatformDescription()); }
  virtual ref<ManipulatorDescription> newManipulatorDescription() const { return ref<SimulatedManipulatorDescription>(NewObj SimulatedManipulatorDescription()); }


  SimulatedRobotDescription& operator=(const SimulatedRobotDescription& r)
    {
      RobotDescription::operator=(r);
      return *this;
    }

  
  // Externalizable
  virtual bool formatSupported(const String format, Real version = 1.0, ExternalizationType type = IO) const
    { return ( (format=="xml") && (version==1.0) ); }
  virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0)
    { RobotDescription::externalize(e,format,version); }
  void externalize(base::Externalizer& e, String format = "", Real version = 1.0) const
    { Externalizable::externalize(e,format,version); }


protected:
  SimulatedRobotDescription(const String& name) : RobotDescription(name) {}
  
private:
  

  friend class SimulatedRobot;
};


}
} // robot::sim

#endif

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