SimViewProgram.h

#ifndef SIM_VIEW_PROGRAM
#define SIM_VIEW_PROGRAM

#include "WorldViewProgram.h"
#include <Klampt/Simulation/Simulator.h>
#include <Klampt/Control/PathController.h>

#if HAVE_GLUT || HAVE_GLUI

namespace Klampt {

//For a simulation set up with SimViewProgram, this retrieves the PolynomialMotionQueue for the controller
PolynomialMotionQueue* GetMotionQueue(RobotController* rc);

class SimViewProgram : public WorldViewProgram
{
public:
  SimViewProgram(WorldModel* world);

  bool LoadAndInitSim(const char* xmlFile);

  bool LoadAndInitSim(int argc,const char** argv);

  void InitSim();

  void ResetSim();

  virtual void RenderWorld();

  void DrawContacts(Real pointSize = 5.0, Real fscale = 0.01, Real nscale=0.05);
  void DrawWrenches(Real fscale=-1);

  bool LoadMilestones(const char* fn);

  bool LoadLinearPath(const char* fn);

  bool LoadState(const char* fn);

  bool LoadMultiPath(const char* fn,bool constrainedInterpolate=true,Real interpolateTolerance=1e-2,Real durationScale=1.0);

  bool SendLinearPath(const vector<Real>& times,const vector<Config>& milestones,Real pathDelay=0.5); 

  void DoLogging(const char* fn="simtest_log.csv");

  int simulate;
  Simulator sim;
  string initialState;
};

} // namespace Klampt

#endif //HAVE_GLUT || HAVE_GLUI

#endif