SimulationGUI.h

#ifndef SIMULATION_GUI_H
#define SIMULATION_GUI_H

#include <Klampt/Simulation/Simulator.h>
#include "WorldGUI.h"
#include <set>

namespace Klampt {

class SimGUIBackend : public WorldGUIBackend
{
public:
  typedef GLNavigationBackend BaseT;
  int simulate;
  Simulator sim;
  string initialState;

  set<pair<int,int> > inContact;

  SimGUIBackend(WorldModel* world)
    :WorldGUIBackend(world),simulate(0)
  {}

  virtual bool OnCommand(const string& cmd,const string& args);

  bool LoadAndInitSim(const char* xmlFile);

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

  bool LoadFile(const char* fn);

  bool LoadPath(const char* fn);

  virtual void InitSim();
  virtual void InitController(int robot);
  virtual void InitContactFeedbackAll();

  void ConnectSerialController(int robot,int port=3456,Real writeRate=10);

  void ResetSim();

  virtual void RenderWorld();

  void SetForceColors();

  void SetTorqueColors();

  void DrawClock(int x,int y);

  void DrawSensor(int robot=-1,int sensor=-1);

  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=0.1); 

  bool OutputROS(const char* prefix="klampt");

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

  void DoCommandLogging_LinearPath(int robot,const char* fn="simtest_command_log.path");

  void DoSensorLogging_LinearPath(int robot,const char* fn="simtest_sensed_log.path");

  void DoStateLogging_LinearPath(int robot,const char* fn="simtest_state_log.path");

  void DoContactStateLogging(const char* fn="simtest_contact_log.csv");

  void DoContactWrenchLogging(const char* fn="simtest_wrench_log.csv");
};

} // namespace Klampt

#endif