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Viewing changes to src/BodyPlugin/SimulatorItem.h

  • Committer: Thomas Moulard
  • Date: 2012-10-23 12:43:24 UTC
  • Revision ID: git-v1:351cf736ad49bc7a9a7b9767dee760a013517a5d
Tags: upstream/1.1.0
Imported Upstream version 1.1.0

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src/BodyPlugin/SimulatorItem.h
 
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/*!
 
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  @file
 
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  @author Shin'ichiro Nakaoka
 
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*/
 
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#ifndef CNOID_BODYPLUGIN_SIMULATOR_ITEM_H_INCLUDED
 
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#define CNOID_BODYPLUGIN_SIMULATOR_ITEM_H_INCLUDED
 
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#include <cnoid/Item>
 
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#include <QWidget>
 
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#include "exportdecl.h"
 
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namespace cnoid {
 
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    class SimulatorItemImpl;
 
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    class CNOID_EXPORT SimulatorItem : public Item
 
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    {
 
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      public:
 
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        SimulatorItem();
 
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        SimulatorItem(const SimulatorItem& org);
 
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        virtual ~SimulatorItem();
 
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        void setAllLinkPositionOutputMode(bool on);
 
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        bool isAllLinkPositionOutputMode();
 
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        bool startSimulation();
 
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        void stopSimulation();
 
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        bool isSimulationRunning();
 
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        SignalProxy< boost::signal<void()> > sigSimulationFinished();
 
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      protected:
 
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        virtual QWidget* settingPanel() = 0;
 
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        virtual bool doStartSimulation() = 0;
 
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        virtual bool doStepSimulation() = 0;
 
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        /**
 
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           @return time at the last flush
 
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        */
 
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        virtual double doFlushResults() = 0;
 
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        /**
 
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           @return finish time
 
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        */
 
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        virtual double doStopSimulation() = 0;
 
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        void lockResults();
 
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        void unlockResults();
 
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        /**
 
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           This must be called within the critical section
 
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        */
 
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        void requestToFlushResults();
 
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      private:
 
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        SimulatorItemImpl* impl;
 
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        friend class SimulatorView;
 
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        friend class SimulatorItemImpl;
 
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    };
 
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    typedef boost::intrusive_ptr<SimulatorItem> SimulatorItemPtr;
 
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}
 
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#endif